Camera settings now come from VimbaX profile XMLs; explicit per-camera config

CMakeLists.txt

@@ -60,7 +60,9 @@ add_library(fgc_core STATIC
   src/core/Calibration.cpp
   src/core/CalibrationRoutine.cpp
   src/core/MtiProtocol.cpp
-  src/core/CameraMode.cpp
+  src/core/CameraProfile.cpp
+  src/core/CameraSettingsXml.cpp
+  src/core/Hash.cpp
   src/core/ChannelHistory.cpp
   src/core/ChannelTopics.cpp
   src/sensors/Sht41Protocol.cpp

README.md

@@ -135,7 +135,7 @@ While running, the program reads commands from stdin (one per line):
 | `debug` | Toggle debug-level logging on/off. |
 | `set fps <n>` | Capture rate, in images per second. |
 | `set camera fps <n>` | Camera sensor frame rate. |
-| `set camera mode <name>` | Switch the camera mode (`standard`, `night`, or any other file in `[Camera] mode_dir`). |
+| `set camera profile [<cam>] <name>` | Switch a camera's profile (any `<name>.xml` in its `profile_dir`). |
 | `set camera jxlq <d>` | JPEG XL quality as butteraugli **distance** (lower = higher quality / larger files). |
 | `set camera jxle <n>` | JPEG XL encoder effort (higher = slower, smaller). |
 | `set camera display <0\|1>` | Toggle the local preview window. |
@@ -150,9 +150,10 @@ discarded, and their job is simply to keep that exposure controller converged. A
 gimbal settles, holds still for the mode's `settle_wait_ms`, and the newest frame is kept — so the saved
 image was exposed at rest and already correctly metered, with nothing waiting on a convergence loop.
 
-Which rate and which exposure limits apply comes from a **camera mode**: one INI file per mode, listing
+Which rate and which exposure limits apply comes from a **camera profile**: a settings XML exported from
-Vimba X features applied verbatim. `standard` runs 10 Hz for daylight, `night` runs 1 Hz with long
+the VimbaX Viewer and handed straight to the Vimba X SDK, so the camera gets exactly the combination the
-exposures; switch live with `set camera mode <name>`. Details in
+GUI validated. `standard` runs 10 Hz for daylight, `night` runs 1 Hz with long exposures; switch live with
+`set camera profile <name>`. Details in
 [docs/architecture.md](docs/architecture.md#image-capture); the mode-file format is `[Camera]` in
 [docs/configuration.md](docs/configuration.md).
 

config/camera_modes/rgb/night.ini

@@ -1,110 +0,0 @@
-; Low-light camera mode for the RGB Alvium 1800 U-2040c: continuous 1 Hz
-; acquisition with long exposures and a high gain ceiling.
-;
-; Standalone: mode files do not inherit from one another, so this repeats
-; standard.ini except where the two deliberately differ (marked NIGHT below).
-;
-; [Camera] is a list of Vimba X features written to the camera IN FILE ORDER
-; when this mode is applied. Names and enum values must be spelled exactly as
-; VimbaX spells them (Minimizenoise, not MinimizeNoise) - see a VimbaX settings
-; export for the full feature list. A name this camera does not expose is logged
-; as a warning and skipped, never fatal.
-;
-; Selector features are stateful: set the selector, then the value it selects.
-; Repeating a key is intentional and supported.
-
-[Mode]
-description = Low light: 1 Hz, long exposures, high gain ceiling
-; Wait this long after the gimbal reports standstill, then keep the newest frame.
-; NIGHT: at 1 fps a 1 s wait need not contain a whole fresh frame; allow two periods.
-settle_wait_ms = 2500
-; Give up on the waypoint if no fresh frame arrives within this long after that.
-frame_timeout_ms = 5000
-
-[Camera]
-; --- Image format: binning first, it changes the ROI maxima ----------------
-; Same geometry as standard so both modes produce comparable images; 2x2 binning
-; also sums four photosites, which is worth having in the dark.
-BinningSelector       = Digital
-BinningHorizontalMode = Sum
-BinningVerticalMode   = Sum
-BinningHorizontal     = 2
-BinningVertical       = 2
-OffsetX               = 0
-OffsetY               = 0
-Width                 = 2256
-Height                = 2256
-ReverseX              = 0
-ReverseY              = 0
-PixelFormat           = RGB8
-SensorBitDepth        = Bpp12   ; NIGHT: more tonal range where signal is scarce
-ColorInterpolation    = HighQualityLinear5X5
-
-; --- Bandwidth: 1 Hz x 15.3 MB = ~15 MB/s ----------------------------------
-; Do NOT raise to 450: that produced incomplete frames on this host.
-DeviceLinkThroughputLimitMode = On
-DeviceLinkThroughputLimit     = 250000000
-
-; --- Acquisition: free-run, no trigger -------------------------------------
-AcquisitionMode            = Continuous
-TriggerSelector            = FrameStart
-TriggerMode                = Off
-AcquisitionFrameRateMode   = Basic
-AcquisitionFrameRateEnable = 1
-AcquisitionFrameRate       = 1        ; NIGHT
-
-; --- Exposure and gain: camera-managed, bounded ----------------------------
-ExposureMode    = Timed
-ExposureAuto    = Continuous
-ExposureAutoMin = 1000
-ExposureAutoMax = 500000       ; NIGHT: 0.5 s, inside the 1 Hz frame period
-GainSelector    = All
-GainAuto        = Continuous
-GainAutoMin     = 0
-GainAutoMax     = 48           ; NIGHT
-
-; --- Auto-exposure controller ----------------------------------------------
-IntensityControllerSelector       = IntensityController1
-IntensityControllerAlgorithm      = Mean
-IntensityControllerTarget         = 50      ; percent of full scale
-IntensityControllerTolerance      = 5
-IntensityControllerRate           = 100
-IntensityControllerRegion         = FullImage
-IntensityControllerOutliersDark   = 0
-IntensityControllerOutliersBright = 0
-IntensityAutoPrecedence           = Minimizenoise  ; NIGHT: expose longer before adding gain
-AutoModeRegionSelector = AutoModeRegion1
-AutoModeRegionOffsetX  = 0
-AutoModeRegionOffsetY  = 0
-AutoModeRegionWidth    = 2256
-AutoModeRegionHeight   = 2256
-
-; --- White balance: fixed ratios, measured in VimbaX ------------------------
-BalanceWhiteAuto     = Off
-BalanceRatioSelector = Red
-BalanceRatio         = 2.870117
-BalanceRatioSelector = Blue
-BalanceRatio         = 1.999023
-
-; --- Image processing -------------------------------------------------------
-BlackLevelSelector = All
-BlackLevel         = 81
-Gamma              = 1.0
-Hue                = 0
-Saturation         = 1.0
-Sharpness          = 0
-ContrastEnable      = 0
-ContrastBrightLimit = 255
-ContrastDarkLimit   = 0
-ContrastShape       = 4
-ColorTransformationEnable      = 0
-AdaptiveNoiseSuppressionFactor = 1     ; raise if frames look noisy
-CorrectionSelector = DefectPixelCorrection
-CorrectionMode     = On
-CorrectionSelector = FixedPatternNoiseCorrection
-CorrectionMode     = On
-
-; --- Device -----------------------------------------------------------------
-DeviceIndicatorMode      = Off         ; NIGHT: no status LED glow at a dark site
-DeviceIndicatorLuminance = 0
-DevicePowerSavingMode    = Disabled

config/camera_modes/rgb/standard.ini

@@ -1,106 +0,0 @@
-; Daytime camera mode for the RGB Alvium 1800 U-2040c: continuous 10 Hz
-; acquisition with camera-managed exposure.
-;
-; [Camera] is a list of Vimba X features written to the camera IN FILE ORDER
-; when this mode is applied. Names and enum values must be spelled exactly as
-; VimbaX spells them (Minimizenoise, not MinimizeNoise) - see a VimbaX settings
-; export for the full feature list. A name this camera does not expose is logged
-; as a warning and skipped, never fatal.
-;
-; Selector features are stateful: set the selector, then the value it selects.
-; Repeating a key is intentional and supported.
-
-[Mode]
-description = Daytime sweep: continuous 10 Hz, camera-managed exposure
-; Wait this long after the gimbal reports standstill, then keep the newest frame.
-settle_wait_ms = 1000
-; Give up on the waypoint if no fresh frame arrives within this long after that.
-frame_timeout_ms = 2000
-
-[Camera]
-; --- Image format: binning first, it changes the ROI maxima ----------------
-; 2x2 binning is not optional at 10 Hz: a full-resolution RGB8 frame is 61 MB,
-; which caps out at ~4 fps under the 250 MB/s link limit. Binned it is 15.3 MB.
-BinningSelector       = Digital
-BinningHorizontalMode = Sum
-BinningVerticalMode   = Sum
-BinningHorizontal     = 2
-BinningVertical       = 2
-OffsetX               = 0
-OffsetY               = 0
-Width                 = 2256
-Height                = 2256
-ReverseX              = 0
-ReverseY              = 0
-PixelFormat           = RGB8
-SensorBitDepth        = Bpp8
-ColorInterpolation    = HighQualityLinear5X5
-
-; --- Bandwidth: 10 Hz x 15.3 MB = ~153 MB/s --------------------------------
-; Do NOT raise to 450: that produced incomplete frames on this host.
-DeviceLinkThroughputLimitMode = On
-DeviceLinkThroughputLimit     = 250000000
-
-; --- Acquisition: free-run, no trigger -------------------------------------
-AcquisitionMode            = Continuous
-TriggerSelector            = FrameStart
-TriggerMode                = Off
-AcquisitionFrameRateMode   = Basic
-AcquisitionFrameRateEnable = 1
-AcquisitionFrameRate       = 10
-
-; --- Exposure and gain: camera-managed, bounded ----------------------------
-ExposureMode    = Timed
-ExposureAuto    = Continuous
-ExposureAutoMin = 200
-ExposureAutoMax = 20000        ; < 1/fps and short enough to limit slew blur
-GainSelector    = All
-GainAuto        = Continuous
-GainAutoMin     = 0
-GainAutoMax     = 24
-
-; --- Auto-exposure controller ----------------------------------------------
-IntensityControllerSelector       = IntensityController1
-IntensityControllerAlgorithm      = Mean
-IntensityControllerTarget         = 50      ; percent of full scale
-IntensityControllerTolerance      = 5
-IntensityControllerRate           = 100
-IntensityControllerRegion         = FullImage
-IntensityControllerOutliersDark   = 0
-IntensityControllerOutliersBright = 0
-IntensityAutoPrecedence           = Minimizeexposuretime
-AutoModeRegionSelector = AutoModeRegion1
-AutoModeRegionOffsetX  = 0
-AutoModeRegionOffsetY  = 0
-AutoModeRegionWidth    = 2256
-AutoModeRegionHeight   = 2256
-
-; --- White balance: fixed ratios, measured in VimbaX ------------------------
-BalanceWhiteAuto     = Off
-BalanceRatioSelector = Red
-BalanceRatio         = 2.870117
-BalanceRatioSelector = Blue
-BalanceRatio         = 1.999023
-
-; --- Image processing -------------------------------------------------------
-BlackLevelSelector = All
-BlackLevel         = 81
-Gamma              = 1.0
-Hue                = 0
-Saturation         = 1.0
-Sharpness          = 0
-ContrastEnable      = 0
-ContrastBrightLimit = 255
-ContrastDarkLimit   = 0
-ContrastShape       = 4
-ColorTransformationEnable      = 0
-AdaptiveNoiseSuppressionFactor = 1     ; raise if frames look noisy
-CorrectionSelector = DefectPixelCorrection
-CorrectionMode     = On
-CorrectionSelector = FixedPatternNoiseCorrection
-CorrectionMode     = On
-
-; --- Device -----------------------------------------------------------------
-DeviceIndicatorMode      = Active
-DeviceIndicatorLuminance = 10
-DevicePowerSavingMode    = Disabled

config/camera_profiles/rgb/README.md

@@ -0,0 +1,66 @@
+# RGB camera profiles
+
+A profile is a **settings XML exported from the VimbaX Viewer**. A profile named
+`X` is `X.xml` in this directory, and `[Camera.rgb] profile = X` in `config.ini`
+selects it.
+
+The program hands the XML straight to the Vimba X SDK (`LoadSettings`). Nothing
+else writes camera settings, and there is no fallback — a missing `X.xml` is a
+startup error. That is deliberate: GenICam validity is *stateful*
+(`AcquisitionFrameRate` is only writable once `AcquisitionFrameRateEnable` is
+set, `Width`'s maximum depends on binning, `IntensityAutoPrecedence` takes
+`Minimizenoise` but not `MinimizeNoise`), so a hand-written list can be
+individually plausible and collectively wrong. The Viewer greys out invalid
+combinations as you configure; that is the guardrail this design relies on.
+
+## These files live on the device only
+
+The XMLs are exported on the LattePanda, because that is where the camera is, so
+they exist nowhere in the repo. `deploy.sh` therefore excludes `*.xml` and
+`*.txt` under this directory from its `rsync --delete` — without that, the next
+deploy erases them. This README does sync; it is repo documentation.
+
+Keep a copy somewhere durable if a profile represents real tuning effort: a
+reflash or a rebuilt device starts with an empty directory.
+
+## To create or change a profile
+
+1. Open the VimbaX Viewer and connect to the camera.
+2. Configure it. The Viewer will not let you pick an invalid combination.
+3. Save the settings XML over `<profile>.xml` here.
+4. Restart. The program notices the file changed, regenerates `<profile>.txt`,
+   and logs every setting that moved.
+
+## The `.txt` files
+
+Beside each `X.xml` the program writes `X.txt`: a generated, human-readable
+record of the same settings, so a profile can be read and diffed without opening
+the Viewer. **It configures nothing.** Editing it changes nothing; it is
+overwritten whenever the XML changes.
+
+## Profiles this rig expects
+
+`config.ini` ships referencing `standard` and `night`. They were previously
+hand-written; these are the values they used, as a starting point when
+recreating them in the Viewer. Everything not listed was identical.
+
+| Setting | `standard` | `night` |
+|---|---|---|
+| `AcquisitionFrameRate` | 10 | 1 |
+| `SensorBitDepth` | Bpp8 | Bpp12 |
+| `ExposureAutoMin` | 200 | 1000 |
+| `ExposureAutoMax` | 20000 | 500000 |
+| `GainAutoMax` | 24 | 48 |
+| `IntensityAutoPrecedence` | Minimizeexposuretime | Minimizenoise |
+| `DeviceIndicatorMode` | Active | Off |
+| `DeviceIndicatorLuminance` | 10 | 0 |
+
+Both used 2×2 binning at `RGB8` (2256×2256, 15.3 MB/frame) and a 250 MB/s
+`DeviceLinkThroughputLimit`. **That binning is not optional at 10 Hz**: a
+full-resolution RGB8 frame is 61 MB, which caps out near 4 fps under that limit.
+
+The full previous definitions are in git history at
+`config/camera_modes/rgb/{standard,night}.ini`.
+
+`settle_wait_ms` / `frame_timeout_ms` are *not* camera settings and are not in
+the XML — they live in `config.ini` under `[Camera.rgb.<profile>]`.

config/config.example.ini

@@ -27,32 +27,43 @@ mqtt_user = CHANGE_ME
 mqtt_pw = CHANGE_ME
 
 [Camera]
-; Camera IDs: GigE IP (e.g. 192.168.11.101) or USB device ID (e.g. DEV_1AB22C0AADED).
+; Defaults inherited by every camera block below; each may override them.
-; Leave entries blank/absent for cameras you do not have. Order maps to RGB, ACR, NIR.
+; JPEG XL encoding. distance: 0 = lossless, ~0.8 = near-lossless; effort 1..9.
-id_Cam1 = DEV_0000000000
-id_Cam2 =
-id_Cam3 =
-id_Cam4 =
-; --- Camera modes ---
-; Every on-camera setting (acquisition rate, exposure limits, binning, ROI, image
-; processing) lives in a mode file: a mode named X is <mode_dir>/X.ini. Nothing
-; about the sensor is configured here, so the two can never disagree.
-; A relative path resolves against the directory holding the config.ini IN USE -
-; which is the repo root on the device (deploy.sh copies this file there), not
-; this config/ directory.
-mode_dir = config/camera_modes/rgb
-; Which mode to start in. Switch live with `set camera mode <name>`.
-; Ships with: standard (10 Hz daytime), night (1 Hz, long exposures).
-mode = standard
-
-; JPEG XL encoding. distance: 0 = lossless, ~0.8 = near-lossless (default); effort 1..9.
 jxl_distance = 0.8
 jxl_effort = 4
-; Clockwise rotation applied to saved images: 0, 90, 180 or 270. Depends on how the
+
-; camera is mounted. 0 = store frames exactly as the sensor delivers them.
+; --- One [Camera.<name>] block per camera -----------------------------------
-; (Builds before this key existed always rotated 90 CCW, i.e. 270.)
+; Nothing is implied by position: the block names the camera, `label` names its
+; output folder and its CamEvent "cam" field, and `driver` picks the backend.
+;
+; The camera's own settings are NOT here. They live in a settings XML exported
+; from the VimbaX Viewer - the Viewer validates combinations as you configure,
+; which a text file cannot - and the program hands that XML to the SDK. A
+; profile named X is <profile_dir>/X.xml. Beside it the program writes X.txt, a
+; generated human-readable record of the same settings; it configures nothing.
+[Camera.rgb]
+enabled = true
+driver = vimba                          ; only vimba is implemented
+id = DEV_0000000000                     ; USB DEV_ id, or a GigE IP
+label = RGB                             ; output subdir + CamEvent "cam"
+profile_dir = config/camera_profiles/rgb
+profile = standard                      ; <profile_dir>/standard.xml
+; Clockwise rotation applied to saved images: 0, 90, 180 or 270.
 rotation_deg = 0
 
+; Per-profile timing. Not camera settings - how long the program waits around
+; them. After the gimbal reports standstill it holds still this long before
+; keeping a frame, so the image is exposed at rest with the auto-exposure
+; settled; frame_timeout_ms then abandons the waypoint rather than parking on it.
+; With several cameras the scan uses the LONGEST wait across them.
+[Camera.rgb.standard]
+settle_wait_ms = 1000
+frame_timeout_ms = 2000
+
+[Camera.rgb.night]
+settle_wait_ms = 2500
+frame_timeout_ms = 5000
+
 [Serial]
 ; Motor-controller serial device and baud rate.
 device = /dev/ttyACM0

deploy.sh

@@ -15,6 +15,9 @@
 #   ./deploy.sh --stop          shut the running app down cleanly
 #   ./deploy.sh --clean         wipe the remote build dir first (fresh configure)
 #   ./deploy.sh --push-config   ALSO overwrite the device's config.ini with the local one
+#
+# NOTE: camera profile XMLs under config/camera_profiles/ are device-local and
+# are never synced or deleted - export them on the device with the VimbaX Viewer.
 #   ./deploy.sh --check-deps     only check the remote build dependencies
 #   ./deploy.sh --run --force    skip the placeholder-config guard before running
 #   ./deploy.sh --run --foreground   run attached to this terminal instead (debugging)
@@ -176,10 +179,15 @@ echo ">> build id: $GIT_REV"
 echo ">> ensuring remote dir exists"
 ssh "$REMOTE_HOST" "mkdir -p '$REMOTE_DIR'"
 
-# config.ini and images/ are device-local (runtime config + captured output) and
+# config.ini, the camera profile files and images/ are device-local (runtime
-# are deliberately NOT mirrored, so a deploy never clobbers them. Note this
+# config, operator-exported camera settings, captured output) and are
-# excludes only the config.ini at the repo root: config/ itself (the example,
+# deliberately NOT mirrored, so a deploy never clobbers them.
-# camera-mode files, scan grids) always syncs.
+#
+# The profile XMLs matter especially: they are exported on the DEVICE from the
+# VimbaX Viewer, which is where the camera is, so they exist nowhere in this
+# repo. Without these excludes `--delete` erases them on the next deploy - which
+# it did once, taking a freshly exported standard.xml with it. The README.md in
+# that directory IS repo documentation and still syncs.
 #
 # build*/ covers every local build tree, not just build/. They are machine-specific
 # and the device regenerates its own build/ remotely, so shipping build-tui/ etc.
@@ -208,6 +216,8 @@ rsync -avz --delete \
     --exclude '.deploy.env' \
     "${CONFIG_EXCLUDES[@]}" \
     --exclude 'config.ini.bak-*' \
+    --exclude 'config/camera_profiles/**/*.xml' \
+    --exclude 'config/camera_profiles/**/*.txt' \
     --exclude 'images/' \
     ./ "$REMOTE_HOST:$REMOTE_DIR/"
 

docs/architecture.md

@@ -133,29 +133,30 @@ which is why `night` at 1 Hz waits 2.5 s where `standard` at 10 Hz waits 1 s.
 If no fresh frame has arrived by `frame_timeout_ms` past the wait, the waypoint is logged and skipped. A
 stalled camera costs single images, never the whole sweep.
 
-### Camera modes
+### Camera profiles
 
-Everything on the camera comes from a **mode**: one INI file per mode, `<mode_dir>/<name>.ini`, holding an
+Everything on the camera comes from a **profile**: a settings XML exported from the VimbaX Viewer, at
-ordered list of Vimba X features written verbatim at start-up and on every switch. There is no C++ struct of
+`<profile_dir>/<name>.xml`. The program hands that file to the Vimba X SDK (`LoadSettings`, restricted to
-camera settings and no translation layer — a feature the camera exposes can be set by adding a line, and
+the export's `RemoteDevice` block) and nothing else writes camera settings.
-`Feature::GetDataType()` tells the applier whether to write it as an int, float, enum, string or bool.
 
-Two properties of the file are load-bearing, and both are why the mode loader does not reuse the ordinary
+The reason is validity, not convenience. GenICam writability is **stateful** — `AcquisitionFrameRate` is
-config parser (which flattens into a `std::map`):
+only writable once `AcquisitionFrameRateEnable` is set, `Width`'s maximum depends on binning,
+`IntensityAutoPrecedence` takes `Minimizenoise` but not `MinimizeNoise` — so a list of features applied
+line by line can be individually plausible and collectively wrong, and a line that fails leaves the camera
+quietly on its old value. The Viewer greys out invalid combinations as the operator configures; replaying
+its export is how that guarantee is inherited. An earlier design applied a hand-written INI feature list;
+it was removed rather than repaired, because the failure mode was silent.
 
-- **Order is preserved.** GenICam selectors are stateful: `BinningHorizontal` means nothing until
+Beside each XML the program writes `<name>.txt`, a generated human-readable record of the same settings.
-  `BinningSelector` is set, and binning must precede `Width`/`Height` because it changes their maxima.
+**It configures nothing** — it exists so a profile can be read and diffed without opening the Viewer. At
-- **Repeated keys are kept.** Writing both white-balance ratios *requires* `BalanceRatioSelector = Red`,
+start-up the XML is hashed and compared with the hash stored in the record; a mismatch regenerates the
-  `BalanceRatio = …`, `BalanceRatioSelector = Blue`, `BalanceRatio = …`.
+record and logs every setting that changed, so a camera behaving differently from the last run says so
+rather than being discovered later. Every `*.xml` in the directory is loaded at start-up, so a profile
+nobody uses today still fails at launch rather than the first night someone switches to it.
 
-A feature this camera does not expose is a warning, not a fatal error — that warning is the feedback loop
+Each camera has its own `[Camera.<name>]` block and its own profile directory, so profiles are per camera
-for a hand-edited mode file. A *structural* error (unknown section, unknown `[Mode]` key, a mode with no
+rather than shared. Switch live with `set camera profile [<camera>] <name>`; that stops acquisition,
-features) is fatal, and every mode file in the directory is parsed at start-up, so a typo in a mode nobody
+reloads the XML and restarts, because binning, ROI and pixel format cannot be changed on a running stream.
-uses today still fails at launch rather than the first night someone switches to it.
-
-Ships with `standard` (10 Hz daytime) and `night` (1 Hz, long exposures, high gain ceiling). Switch live
-with `set camera mode <name>`; that stops acquisition, rewrites the features and restarts, because binning,
-ROI and pixel format cannot be changed on a running stream.
 
 ### Why not judge each frame instead
 

docs/configuration.md

@@ -35,8 +35,16 @@ Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config
 | `Serial` | `device` | string | `/dev/ttyACM0` | Motor-controller serial device |
 | `Serial` | `baud` | int | `115200` | Serial baud rate |
 | `Camera` | `id_Cam1`..`id_Cam4` | string | — | Camera IDs (GigE IP or USB `DEV_...`); non-empty ones used in order |
-| `Camera` | `mode_dir` | string | `config/camera_modes/rgb` | Directory of camera-mode files; a mode named X is `<mode_dir>/X.ini`. A relative path resolves against the directory holding the `config.ini` in use |
+| `Camera` | `jxl_distance` / `jxl_effort` | | | Defaults inherited by every camera block |
-| `Camera` | `mode` | string | `standard` | Mode to start in. Ships with `standard` (10 Hz day) and `night` (1 Hz). Switch live with `set camera mode <name>` |
+| `Camera.<name>` | `id` | string | — | USB `DEV_` id or GigE IP. Required when enabled |
+| `Camera.<name>` | `driver` | `vimba` | `vimba` | Backend. Only `vimba` is implemented |
+| `Camera.<name>` | `label` | string | the block name | Output subdirectory and `CamEvent` `cam` field |
+| `Camera.<name>` | `profile_dir` | string | — | Directory of profile XMLs; a profile named X is `<profile_dir>/X.xml`. A relative path resolves against the directory holding the `config.ini` in use |
+| `Camera.<name>` | `profile` | string | `standard` | Profile to start in. Switch live with `set camera profile [<camera>] <name>` |
+| `Camera.<name>` | `enabled` | bool | `true` | A disabled camera is not opened and does not affect the scan timing |
+| `Camera.<name>` | `rotation_deg` | `0`/`90`/`180`/`270` | `0` | Clockwise rotation applied to that camera's saved images |
+| `Camera.<name>.<profile>` | `settle_wait_ms` | int ≥ 0 | `1000` | Hold after standstill before keeping a frame |
+| `Camera.<name>.<profile>` | `frame_timeout_ms` | int ≥ 0 | `2000` | Abandon the waypoint after this |
 | `Camera` | `jxl_distance` | double ≥ 0 | `0.8` | JPEG XL distance (`0` = lossless, `~0.8` = near-lossless) |
 | `Camera` | `jxl_effort` | int 1..9 | `4` | JPEG XL effort (higher = slower/smaller) |
 | `Camera` | `rotation_deg` | `0`/`90`/`180`/`270` | `0` | Clockwise rotation applied to saved images (`0` = as the sensor delivers them) |
@@ -139,56 +147,47 @@ The config is read **once at startup** and cached, so if you change the XKF prof
 stays stale until you **refresh** it: press `r` (or type `refresh`). That re-queries the device (briefly
 pausing the stream) and also requests a fresh firmware dump for the gimbal `g` view.
 
-### `[Camera]` — camera modes
+### `[Camera]` — cameras and profiles
 
-Every on-camera setting lives in a **mode file**, one per mode, at `<mode_dir>/<name>.ini`. The mode's
+Each camera gets its own `[Camera.<name>]` block. Nothing is implied by position:
-name is the filename stem, so adding a mode is dropping in a file — there is no registry to keep in
+the block names the camera, `label` names its output, and `driver` picks the
-sync. `config.ini` only picks which one to start in; nothing about the sensor is configured in two
+backend. A camera's *settings* are not here at all.
-places.
 
-Two modes ship:
+**The settings live in a profile XML exported from the VimbaX Viewer.** A profile
+named `X` is `<profile_dir>/X.xml`, and the program hands that file straight to
+the Vimba X SDK. There is no other path by which settings reach the camera, and a
+missing XML is a startup error rather than a fallback.
 
-| Mode | Rate | Intent |
+That indirection exists because GenICam validity is **stateful**:
-|---|---|---|
+`AcquisitionFrameRate` is only writable once `AcquisitionFrameRateEnable` is set,
-| `standard` | 10 Hz | Daytime sweep. Short exposure ceiling (20 ms) and a modest gain cap; `IntensityAutoPrecedence = Minimizeexposuretime` so the camera buys brightness with gain rather than time |
+`Width`'s maximum depends on binning, and `IntensityAutoPrecedence` accepts
-| `night` | 1 Hz | Long exposures (up to 0.5 s), gain to 48 dB, `Minimizenoise` so it spends time before noise, 12-bit readout, status LED off |
+`Minimizenoise` but not `MinimizeNoise`. The Viewer greys out invalid
+combinations as you configure; a hand-written list has no such guardrail, and a
+line that silently fails leaves the camera on its previous value.
 
-**How a mode is applied.** A `[Camera]` block is a list of Vimba X features written verbatim, in file
+**To change a camera's settings:** open the Viewer, configure, save the settings
-order, at start-up and on every switch. Names and enum values must be spelled exactly as VimbaX spells
+XML over `<profile>.xml`, restart.
-them (`Minimizenoise`, not `MinimizeNoise`); the easiest source of truth is a settings export from
-VimbaX itself. There is no fixed vocabulary — any feature the camera exposes can be set by adding a
-line, and the type is read off the camera.
 
-Order and repetition are deliberate and preserved:
+**The `.txt` beside each XML is generated and configures nothing.** It is a
+human-readable record of the same settings so a profile can be read and diffed
+without opening the Viewer. On startup the program hashes the XML and compares it
+with the hash recorded in the `.txt`; if they differ it regenerates the record
+and logs a warning naming every setting that moved:
 
-- **Order.** GenICam selectors are stateful, so a selector must precede what it selects, and binning
+```
-  must precede `Width`/`Height` because it changes their maxima.
+[WARN ] camera 'rgb' profile 'standard': settings XML changed, regenerating standard.txt
-- **Repeats.** Writing both white-balance ratios requires `BalanceRatioSelector = Red`,
+[WARN ]   AcquisitionFrameRate  3.399707 -> 10
-  `BalanceRatio = …`, `BalanceRatioSelector = Blue`, `BalanceRatio = …`.
+[WARN ]   ExposureAutoMax       50000 -> 15000
+```
 
-**Error handling.** A feature this camera does not expose logs `camera: no such feature '<name>'` and
+**Timing is per camera and per profile**, in `[Camera.<name>.<profile>]`. These
-is skipped — that warning is how you find a typo in a hand-edited file, so a clean start-up log is the
+are not camera settings — they are how long the program waits around them. With
-acceptance test for a mode. Structural mistakes are fatal instead: an unknown section, an unknown
+several cameras the scan uses the **longest** `settle_wait_ms` across the enabled
-`[Mode]` key, or a mode that sets no features. Every `*.ini` in `mode_dir` is parsed at start-up, so a
+ones, since the gimbal must stand still for all of them.
-broken mode fails at launch rather than the first night someone switches to it.
 
-**The `[Mode]` header** holds the three values the program itself uses:
+Every `*.xml` in `profile_dir` is loaded at start-up, so a profile nobody is
-
+using today still fails at launch rather than the first time someone switches to
-| Key | Default | Meaning |
+it.
-|---|---|---|
-| `description` | — | Shown in the log and the TUI `c` view |
-| `settle_wait_ms` | `1000` | After the axes report standstill, hold this long before keeping a frame |
-| `frame_timeout_ms` | `2000` | If no fresh frame arrives within this long after the wait, log and skip the waypoint |
-
-`settle_wait_ms` is the mechanism that makes a free-running camera usable for a stop-and-stare scan: it
-guarantees the kept frame was exposed with the gimbal at rest and after the auto-exposure has seen this
-waypoint's light. It must comfortably exceed one frame period, which is why `night` at 1 Hz waits 2.5 s
-where `standard` at 10 Hz waits 1 s.
-
-**Frame rate is bounded by bandwidth, not the sensor.** A full-resolution RGB8 frame is 61 MB, which
-caps out around 4 fps under the 250 MB/s `DeviceLinkThroughputLimit`. Both shipped modes therefore set
-`BinningHorizontal/Vertical = 2` (2256×2256 ≈ 5 MP, 15.3 MB), so 10 Hz needs only ~153 MB/s. Raising
-the limit to 450 is not a fix — it produced incomplete frames on this host.
 
 ### `[Env]` — SHT41 ambient temperature/humidity sensor
 

docs/known-issues.md

@@ -29,7 +29,7 @@ doctest unit-test suite (`ctest`).
 |---|-------|--------|
 | 13 | `[Motor]` degrees↔counts calibration | The `config.example.ini` values are **placeholders**. Calibrate `*_counts_per_deg` / `*_zero_count` against real `xenc` readings after homing on the rig. |
 | 14 | Capture sweep on hardware | **Mechanically verified on the rig (2026-08-07).** A full `--init --start` run homed both axes and completed `MOVE → settle → trigger` for 15/15 waypoints with 0 dropped frames, 0 stalls and 0 acquisition failures. `kSettleTolCounts` (600) and the per-interval timing in [CaptureScheduler.cpp](../src/core/CaptureScheduler.cpp) have **not** been tuned against observed `ST` behaviour yet, and the settle tolerance has not been checked against a sharp image (see #16). |
-| 15 | **Camera modes unverified on a lit scene** | The `standard`/`night` mode files were derived from a VimbaX export plus the bandwidth arithmetic, not measured against real light. Confirm on the rig that every feature applies without a `camera: no such feature` / `could not set` warning, that `standard` sustains 10 fps with `frames_dropped` at 0, and that the auto-exposure lands on a sensible `ExposureTime` outdoors. The only previous rig test ran with the lens covered. |
+| 15 | **Camera profiles unverified on a lit scene** | The `standard`/`night` profiles must be exported from the VimbaX Viewer (see `config/camera_profiles/rgb/README.md`) and have not been measured against real light. Confirm on the rig that `LoadSettings` succeeds, that `standard` sustains 10 fps with `frames_dropped` at 0, and that the auto-exposure lands on a sensible `ExposureTime` outdoors. The only previous rig test ran with the lens covered. |
 | 16 | **`settle_wait_ms` untuned** | `standard` waits 1 s and `night` 2.5 s after standstill before keeping a frame. Both are reasoned (≫ one frame period; long enough for the auto-exposure to see the new scene) but not measured. Check on a lit scene that the kept frame shows no slew blur and that its exposure has actually converged for that heading, and shorten the wait if it has. |
 | 19 | **USB preconditions do not survive a reboot** | `usbcore.usbfs_memory_mb` reverts to 16 (needs 1000) and USB3 LPM re-enables on the camera's port. **Both were wrong on the LattePanda when tested on 2026-08-07**, and frame delivery stalls without them regardless of application code. Needs the udev rule + kernel cmdline persistence described under *Camera acquisition* below. |
 
@@ -107,10 +107,10 @@ scripts for this are worth keeping; note that wrapping them in `timeout` SIGTERM
 
 ## Possible follow-ups (not done)
 
-- **A mode file cannot be reloaded without a restart.** `set camera mode <name>` re-applies a mode from the
+- **A profile cannot be reloaded without a restart.** `set camera profile <name>` re-applies a profile from
-  copy loaded at start-up, so editing a `.ini` while the program runs has no effect. Tuning on the rig
+  the copy loaded at start-up, so re-exporting the XML while the program runs has no effect. Tuning on the
-  therefore costs a restart per edit. Re-reading the file on switch would fix it, at the price of a failure
+  rig therefore costs a restart per export. Re-reading on switch would fix it, at the price of a failure
-  mode (a mid-session syntax error) that start-up loading currently rules out.
+  mode (a mid-session unreadable export) that start-up loading currently rules out.
 - **Nothing checks that a mode actually took.** Features are written and warned about individually, but the
   camera is never read back to confirm the resulting state, and a mode whose every write failed still logs
   as applied. A post-apply readback of a handful of key features (`AcquisitionFrameRate`, `Width`,

docs/modules-reference.md

@@ -20,7 +20,9 @@ Per-file reference for the refactored tree, plus the shared data structures.
 | [include/fgc/CalibrationRoutine.h](../include/fgc/CalibrationRoutine.h), [src/core/CalibrationRoutine.cpp](../src/core/CalibrationRoutine.cpp) | `gimbal calib` worker thread: home-if-needed → pitch sweep at the first yaw position → pitch 0° → switch IMU to a no-mag XKF profile → IMU no-rotation + heading reset → yaw sweep, fitting degrees↔counts; tunable via `CalibParams`; exposes `progress()`/`report()`/`takeResult()` |
 | [include/fgc/MtiProtocol.h](../include/fgc/MtiProtocol.h), [src/core/MtiProtocol.cpp](../src/core/MtiProtocol.cpp) | Xsens MTi binary protocol: `MtiFramer` (checksum framing), config-message builders, `parseMTData` → `ImuSample` (temp/acc/gyr/mag/euler), config-readback query builders + `applyImuConfigAck`/`finalizeImuConfig` → `ImuDeviceConfig` (product/firmware/device-id/output mode+settings/sample rate/**XKF scenario**); orientation-control builders `msgSetNoRotation` (gyro-bias update) + `msgResetOrientation` (heading reset / store) + `msgSetFilterProfile` (select XKF profile) + `pickNoMagProfile` (choose a magnetometer-free profile from the available list) |
 | [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/CameraMode.h](../include/fgc/CameraMode.h), [src/core/CameraMode.cpp](../src/core/CameraMode.cpp) | `loadCameraMode` / `loadCameraModes`: one INI per camera mode → `CameraMode` (settle timing + an **ordered, duplicate-preserving** list of Vimba X features). Order and repeats are load-bearing (GenICam selectors are stateful), so it uses its own appending `inih` handler rather than the flattening one in `Config.cpp` |
+| [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/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; injectable clock; `setGeometry` adopts a recalibration |
 | [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) |
@@ -48,7 +50,7 @@ Per-file reference for the refactored tree, plus the shared data structures.
 | [src/sensors/Sht41EnvSensor.cpp](../src/sensors/Sht41EnvSensor.cpp) | `IEnvSensor` over I2C (pImpl): soft-reset, poll thread at `[Env] period_ms`, decode via `Sht41Protocol`, staleness = no valid sample within 2× the period | always |
 | [src/mqtt/MqttControlChannel.cpp](../src/mqtt/MqttControlChannel.cpp) | `IControlChannel` over Eclipse Paho | `WITH_MQTT` |
 | [src/ui/TuiUi.cpp](../src/ui/TuiUi.cpp) | `IUserInterface` over FTXUI: panels, key bar, log pane | `WITH_TUI` |
-| [src/camera/VimbaCameraSource.cpp](../src/camera/VimbaCameraSource.cpp) | `ICameraSource` over Vimba X (pImpl): free-running stream + keep-latest, restart-on-stall, and a type-dispatched feature applier that writes a `CameraMode` verbatim | `WITH_VIMBA` |
+| [src/camera/VimbaCameraSource.cpp](../src/camera/VimbaCameraSource.cpp) | `ICameraSource` over Vimba X (pImpl): free-running stream + keep-latest, restart-on-stall, and per-camera profiles applied with the SDK's `LoadSettings` on the Viewer's settings XML | `WITH_VIMBA` |
 | [src/camera/JpegXlEncoder.cpp](../src/camera/JpegXlEncoder.cpp) | libjxl encode-to-file | always |
 | [src/camera/ImagePipeline.cpp](../src/camera/ImagePipeline.cpp) | frame → rotate → encode → write → CamEvent (worker thread) | always |
 
@@ -75,8 +77,14 @@ Per-file reference for the refactored tree, plus the shared data structures.
 ### `MotorTelemetry` / `AxisTelemetry` ([IMotorController.h](../include/fgc/IMotorController.h))
 Per-axis `yaw` and `pitch` segments (`pitch_present` flag), each an `AxisTelemetry`: `state`
 (`AxisState` B/R/H/A/E), `xactual`, `xenc` (encoder counts), `drv_status`, `sg`/`cs`/`pwm`, and flags
-`standstill`/`stall`/`overtemp`/`endstop_l`/`endstop_r`, with `moving()`/`ready()` helpers. Parsed from the
+`standstill`/`stall`/`deviation`/`overtemp`/`endstop_l`/`endstop_r`, with `moving()`/`ready()` helpers.
-firmware `ST Y:...[ P:...]` line; degrees are derived via `Geometry`.
+Parsed from the firmware `ST Y:...[ P:...]` line; degrees are derived via `Geometry`.
+
+`deviation` (flag `d`) is the TMC5160's hardware encoder-deviation latch — set when `|xactual − xenc|`
+exceeds `ENC_DEVIATION`, i.e. the shaft is not where it was commanded to be. It is the usable stall signal
+on this rig and is what the TUI's STALL badge shows. `stall` (flag `s`) is StallGuard2, which is inert
+because production runs StealthChop; it is still parsed in case that changes. The latch is cleared by
+homing or `gimbal reset`, so a lit badge means "position untrustworthy since the last home".
 
 ### `ControlCommand` ([IControlChannel.h](../include/fgc/IControlChannel.h))
 `control_code` (0 = scan-grid sweep, 1 = directed to `target_HDG`) + `target_heading`, each with an

docs/roadmap.md

@@ -35,7 +35,7 @@ Keep entries dated; move shipped items into the reference docs.
   described in [architecture.md](architecture.md#image-capture) and the modes in
   [configuration.md](configuration.md).
 - **A dusk/dawn mode, and automatic switching.** `standard` and `night` are
-  chosen by hand (`set camera mode <name>`). A third mode for the transition, and
+  chosen by hand (`set camera profile <name>`). A third profile for the transition, and
   a rule to pick between them — by clock, sun angle, or measured scene brightness
   — is the obvious follow-on. _(TODO: decide the trigger.)_
 - **Thermal camera.** Add the thermal sensor with radiometric handling (NUC,

include/fgc/CameraMode.h

@@ -1,42 +0,0 @@
-#pragma once
-
-#include <map>
-#include <string>
-#include <utility>
-#include <vector>
-
-namespace fgc {
-
-// One named camera mode, loaded from <mode_dir>/<name>.ini.
-//
-// A mode is deliberately NOT a struct of typed camera settings: it is the raw
-// list of Vimba X features to write, in file order, plus the few values the
-// program itself needs. That means a new camera feature can be set by adding a
-// line to an INI file - no C++ change, no vocabulary to keep in sync with the
-// SDK. VimbaCameraSource asks the camera what type each feature is and converts
-// the string accordingly.
-struct CameraMode {
-    std::string name;              // filename stem
-    std::string description;
-    int settle_wait_ms   = 1000;   // pause after standstill before keeping a frame
-    int frame_timeout_ms = 2000;   // give up on the waypoint after this
-
-    // Vimba X features in FILE ORDER, duplicates preserved. Both matter:
-    // GenICam selectors are stateful, so "BalanceRatioSelector=Red,
-    // BalanceRatio=2.87, BalanceRatioSelector=Blue, BalanceRatio=2.0" is the
-    // only way to write both ratios. A std::map would sort and de-duplicate
-    // that into nonsense.
-    std::vector<std::pair<std::string, std::string>> features;
-};
-
-// Load one mode file. `name` comes from the filename stem.
-// Throws std::runtime_error with a clear message on a missing file, an unknown
-// section, or an unknown/invalid [Mode] key.
-CameraMode loadCameraMode(const std::string& path);
-
-// Load every *.ini in `dir`, keyed by mode name. Throws if the directory is
-// missing or contains no modes - a malformed mode nobody is using today still
-// fails at startup rather than the first time someone switches to it.
-std::map<std::string, CameraMode> loadCameraModes(const std::string& dir);
-
-}  // namespace fgc

include/fgc/CameraProfile.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include "fgc/CameraSettingsXml.h"
+
+#include <map>
+#include <string>
+#include <vector>
+
+namespace fgc {
+
+// One named camera profile: a VimbaX Viewer settings export, plus the generated
+// record beside it.
+//
+// A profile named X is <profile_dir>/X.xml, and X.txt is a human-readable record
+// of what that XML contains. Only the XML is ever applied - the program hands
+// the path to the Vimba X SDK, so the camera receives exactly the combination
+// the Viewer validated. `settings` is parsed for display and diffing, never to
+// configure anything.
+struct CameraProfile {
+    std::string    name;      // filename stem
+    std::string    xml_path;  // what actually gets applied
+    std::string    txt_path;  // the generated record
+    CameraSettings settings;  // parsed from the XML, for reading and diffing
+};
+
+// What a load did, so the caller can report it. `first_run` distinguishes "there was no record to compare against" from "the
+// settings changed": on a first load every setting would otherwise be reported
+// as new, which for a real export is thousands of lines and no information.
+struct ProfileLoadResult {
+    bool                     regenerated = false;
+    bool                     first_run   = false;  // no previous record existed
+    std::vector<std::string> changes;              // empty when first_run
+};
+
+// Load a profile: hash the XML, compare against the hash recorded in the .txt,
+// and regenerate the record when they differ.
+//
+// Throws std::runtime_error if the XML is missing or unreadable. There is
+// deliberately no fallback to the .txt: it is a record, not a configuration
+// source, and applying one would defeat the point of the GUI validating the XML.
+CameraProfile loadCameraProfile(const std::string& profile_dir, const std::string& name,
+                                ProfileLoadResult& result);
+
+// Every *.xml in `dir`, keyed by profile name. Throws if the directory is
+// missing or holds no profiles, so a typo in a profile nobody is using today
+// still fails at startup rather than the first time someone switches to it.
+std::map<std::string, CameraProfile> loadCameraProfiles(
+    const std::string& dir, std::map<std::string, ProfileLoadResult>& results);
+
+}  // namespace fgc

include/fgc/CameraSettingsXml.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace fgc {
+
+// One camera setting as the VimbaX Viewer exported it.
+struct SettingEntry {
+    std::string name;
+    std::string value;
+    std::string selector;  // "" unless the Viewer nested it in a <SelectorGroup>
+};
+
+// The settings a Viewer XML holds, in file order.
+//
+// These are NEVER applied: the program hands the XML itself to the Vimba X SDK,
+// which is what guarantees the camera gets exactly the combination the GUI
+// validated. This parse exists only to render a human-readable record and to
+// diff one export against the previous one.
+struct CameraSettings {
+    std::string               model;    // <CameraInfo Model="...">
+    std::string               device_id;
+    std::vector<SettingEntry> entries;  // <RemoteDevice> features, in order
+};
+
+// Parse a VimbaX Viewer settings export. Only the <RemoteDevice> block is read:
+// the <LocalDevice>/stream sections describe the host's transport layer, not the
+// sensor. Throws std::runtime_error naming the problem if the file is missing or
+// does not look like a Viewer export.
+CameraSettings parseCameraSettingsXml(const std::string& path);
+
+// Render the human-readable record written beside the XML. `xml_name` and
+// `hash_label` go in the header so the file says what it came from.
+std::string renderSettingsRecord(const CameraSettings& s, const std::string& xml_name,
+                                 const std::string& hash_label);
+
+// Read back a record written by renderSettingsRecord. Returns the recorded hash
+// label (empty if the file is absent or has none) and the settings it listed, so
+// a regeneration can report what actually changed.
+struct SettingsRecord {
+    std::string               hash_label;
+    std::vector<SettingEntry> entries;
+};
+SettingsRecord readSettingsRecord(const std::string& path);
+
+// Human-readable difference between two settings lists, one line per change:
+//   "AcquisitionFrameRate  10 -> 8", "+ Gamma  1.2 (new)", "- Sharpness (removed)".
+// Empty when they match.
+std::vector<std::string> diffSettings(const std::vector<SettingEntry>& before,
+                                      const std::vector<SettingEntry>& after);
+
+}  // namespace fgc

include/fgc/CaptureScheduler.h

@@ -42,7 +42,7 @@ public:
     void   setImageRate(double rate);    // images per second
     double imageRate() const { return image_rate_; }
 
-    // Per-camera-mode timing (see CameraMode): how long to wait after standstill
+    // Per-camera-profile timing (see CameraProfile): how long to wait after standstill
     // before keeping a frame, and how long to keep retrying before abandoning the
     // waypoint. Called on the control thread, same as tick().
     void setSettleWait(int settle_ms, int timeout_ms);

include/fgc/Config.h

@@ -42,25 +42,48 @@ struct SerialConfig {
     unsigned int baud   = 115200;
 };
 
+// Per-profile program behaviour, from [Camera.<name>.<profile>]. These are not
+// camera settings - the camera's own settings live entirely in the profile XML -
+// but timing the program must observe around them.
+struct CameraProfileTiming {
+    int settle_wait_ms   = 1000;   // hold after standstill before keeping a frame
+    int frame_timeout_ms = 2000;   // give up on the waypoint after this
+};
+
+// One camera, from a [Camera.<name>] block. Nothing is implied by position: the
+// block names the camera, `label` names its output, `driver` picks the backend.
+struct CameraSpec {
+    std::string name;                    // the block suffix, e.g. "rgb"
+    bool        enabled = true;
+    std::string driver  = "vimba";       // only "vimba" is implemented
+    std::string id;                      // USB DEV_ id or GigE IP
+    std::string label;                   // output subdir + CamEvent "cam"; defaults to name
+    std::string profile_dir;             // relative => resolved next to config.ini
+    std::string profile = "standard";    // which profile to start in
+    int         rotation_deg = 0;        // clockwise; 0/90/180/270
+
+    // Encoding, defaulted from [Camera] and overridable per camera.
+    double jxl_distance = 0.8;
+    int    jxl_effort   = 4;
+
+    std::map<std::string, CameraProfileTiming> timing;   // by profile name
+
+    // Timing for `profile`, or the defaults when the block does not name it.
+    CameraProfileTiming timingFor(const std::string& profile_name) const;
+};
+
 struct CameraConfig {
-    std::vector<std::string> ids;                          // GigE IP or USB DEV_ id, in order
+    std::vector<CameraSpec> cameras;     // in config order; empty is a config error
-    std::vector<std::string> labels = {"RGB", "ACR", "NIR"};  // index -> output subfolder
+    // [Camera] defaults, inherited by each block unless it overrides them.
+    double jxl_distance = 0.8;
+    int    jxl_effort   = 4;
 
-    // On-camera imaging settings live in mode files, one per mode: a mode named X
+    // Enabled cameras only.
-    // is <mode_dir>/X.ini (see CameraMode.h). Nothing about the sensor is
+    std::vector<const CameraSpec*> active() const;
-    // configured here - a mode file is the whole story, so the two can never
+    // The gimbal must stand still long enough for EVERY active camera, so the
-    // disagree about, say, binning.
+    // scheduler takes the longest wait rather than the first camera's.
-    // Relative => resolved against the DIRECTORY HOLDING config.ini. The deployed
+    int maxSettleWaitMs() const;
-    // config.ini lives at the repo root (deploy.sh copies the example there), so
+    int maxFrameTimeoutMs() const;
-    // the default is written from there, not from config/.
-    std::string mode_dir = "config/camera_modes/rgb";
-    std::string mode     = "standard";          // which mode to start in
-
-    // JPEG XL encoding (consumed by ImagePipeline). Near-lossless default.
-    double      jxl_distance    = 0.8;     // 0 = lossless; higher = lossier
-    int         jxl_effort      = 4;       // libjxl effort 1..9
-    // Clockwise rotation applied to saved images (0/90/180/270). 0 = as-sensed.
-    int         rotation_deg    = 0;
 };
 
 struct PathsConfig {

include/fgc/Hash.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+
+namespace fgc {
+
+// FNV-1a 64-bit, for detecting that a file changed.
+//
+// Deliberately not a cryptographic hash: the only question asked of it is "is
+// this the same settings XML the record was generated from?", which is change
+// detection, not tamper resistance. A crypto dependency would be a poor trade
+// for that, and this is ten lines that need no third party.
+//
+// Digests are rendered with an algorithm prefix ("fnv1a64:<16 hex digits>") so a
+// stored digest can never be silently misread if the algorithm is ever changed.
+uint64_t    fnv1a64(const std::string& data);
+std::string hashLabel(uint64_t digest);          // -> "fnv1a64:9d3c1a77b21e4f80"
+
+// Hash a file's bytes. Throws std::runtime_error if it cannot be read - callers
+// use this to decide whether to regenerate, so silently returning 0 would make a
+// missing file look like an unchanged one.
+uint64_t fnv1a64File(const std::string& path);
+
+}  // namespace fgc

include/fgc/ICameraSource.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "fgc/CameraMode.h"
+#include "fgc/CameraProfile.h"
 
 #include <cstdint>
 #include <functional>
@@ -67,9 +67,13 @@ public:
     // yet, and the caller simply retries.
     virtual bool trigger() = 0;
 
-    // Apply a camera mode's feature list (see CameraMode.h). Default: no-op, for
+    // Apply a profile to one camera, identified by its index in the order the
-    // sources with no features to set.
+    // source opened them (the same index Frame::cam_id carries). The backend
-    virtual bool setMode(const CameraMode& /*mode*/) { return false; }
+    // loads the profile's settings XML through its SDK - see CameraProfile.h.
+    // Default: no-op, for sources with nothing to configure.
+    virtual bool setProfile(int /*camera_index*/, const CameraProfile& /*profile*/) {
+        return false;
+    }
 
     virtual void setFrameCallback(FrameCallback cb) = 0;
 

include/fgc/IMotorController.h

@@ -19,7 +19,13 @@ struct AxisTelemetry {
     int       cs         = 0;       // CS_ACTUAL
     int       pwm         = 0;      // PWM_SCALE_SUM
     bool      standstill = false;   // flag 'S' (DRV_STST)
-    bool      stall      = false;   // flag 's'
+    bool      stall      = false;   // flag 's' (StallGuard) - inert in StealthChop, see below
+    // Flag 'd': the TMC's hardware encoder-deviation latch, set when
+    // |xactual - xenc| exceeded ENC_DEVIATION. This is the usable stall signal on
+    // this rig - StallGuard needs SpreadCycle, which production does not run.
+    // Latched until the axis is homed or reset, so it means "position
+    // untrustworthy", not "stalling right now".
+    bool      deviation  = false;
     bool      overtemp   = false;   // flag 'o'/'O'
     bool      endstop_l  = false;   // flag 'L'
     bool      endstop_r  = false;   // flag 'R'

include/fgc/ImagePipeline.h

@@ -28,16 +28,23 @@ struct Orientation {
 // VimbaHandler::SaveImage so any camera source (real or mock) can feed it.
 class ImagePipeline {
 public:
+    // Per-camera output settings. Label, rotation and encoding are all properties
+    // of the individual camera now, so they travel together and are indexed by
+    // Frame::cam_id rather than assumed uniform across the rig.
+    struct CameraOutput {
+        std::string label;                  // output subdir + CamEvent "cam"
+        int         rotation_deg = 0;       // clockwise; 0/90/180/270
+        double      jxl_distance = 0.8;     // 0 = lossless
+        int         jxl_effort   = 4;
+    };
+
     struct Params {
-        std::string              output_dir;
+        std::string               output_dir;
-        std::vector<std::string> labels = {"RGB", "ACR", "NIR"};  // by camera index
+        std::vector<CameraOutput> cameras;   // by camera index, in open order
-        std::string              tower;
+        std::string               tower;
-        double                   jxl_distance = 2.0;  // 0 = lossless
+        bool                      demo = false;   // copy demo_image instead of encoding
-        int                      jxl_effort   = 3;
+        std::string               demo_image = "test_smoke.jxl";
-        int                      rotation_deg = 0;    // clockwise; 0/90/180/270
+        bool                      display = false;  // show an OpenCV preview window
-        bool                     demo = false;          // copy demo_image instead of encoding
-        std::string              demo_image = "test_smoke.jxl";
-        bool                     display = false;        // show an OpenCV preview window
     };
 
     // orientation: returns the current gimbal yaw+pitch (degrees) for CamEvent.
@@ -51,8 +58,10 @@ public:
     void submit(const Frame& frame);
 
     // Runtime-adjustable encoder settings (console "set camera ..." commands).
-    void setDistance(double d) { params_.jxl_distance = d; }
+    // These apply to every camera: they exist for quick experiments, and asking
-    void setEffort(int e) { params_.jxl_effort = e; }
+    // which camera on every keystroke would make that worse, not better.
+    void setDistance(double d) { for (auto& c : params_.cameras) c.jxl_distance = d; }
+    void setEffort(int e) { for (auto& c : params_.cameras) c.jxl_effort = e; }
     void setDisplay(bool on) { params_.display = on; }
 
     // Last CamEvent published (camera label, heading/pitch, timestamp), for the
@@ -65,7 +74,9 @@ public:
 private:
     void run();
     void process(const Frame& frame);
-    std::string labelFor(int cam_id) const;
+    // Output settings for a camera index, or sane defaults if the index is out of
+    // range (a source delivering more cameras than were configured).
+    const CameraOutput& outputFor(int cam_id) const;
 
     IControlChannel&             channel_;
     std::function<Orientation()> orientation_;

include/fgc/TelemetryParser.h

@@ -12,7 +12,8 @@ namespace fgc {
 //   ST Y:<state>,<xactual>,<xenc>,<drv_hex>,<sg>,<cs>,<pwm>,<flags> [P:...]
 //
 // where <state> is B/R/H/A/E and <flags> is an optional run of status letters
-// (S=standstill, s=stall, o/O=overtemp, L/R=endstops, e=eeprom). Returns nullopt
+// (S=standstill, s=stall, d=encoder deviation, o/O=overtemp, L/R=endstops,
+// e=eeprom). Returns nullopt
 // for any line that is not a well-formed `ST` line (acks and other async output
 // like OK/ERR/DG/DUMP are handled by the caller). A missing/garbled axis segment
 // yields nullopt rather than partial data.

include/fgc/VimbaCameraSource.h

@@ -1,35 +1,37 @@
 #pragma once
 
-#include "fgc/CameraMode.h"
+#include "fgc/CameraProfile.h"
 #include "fgc/Config.h"
 #include "fgc/ICameraSource.h"
 
 #include <memory>
+#include <vector>
 
 namespace fgc {
 
 // Real camera source backed by the Allied Vision Vimba X SDK (VmbCPP). Opens the
-// cameras named in CameraConfig; every on-camera setting comes from a CameraMode,
+// cameras named by their CameraSpec and configures each one by handing its
-// which is just a list of Vimba features written verbatim.
+// profile's settings XML to the SDK - the XML the VimbaX Viewer wrote, so the
+// camera receives exactly the combination the GUI validated.
 //
-// The camera free-runs continuously at the mode's AcquisitionFrameRate with its
+// The camera free-runs continuously at the rate the profile sets, with its own
-// own auto-exposure tracking the light. trigger() hands over the latest complete
+// auto-exposure tracking the light. trigger() hands over the latest complete
 // frame, restarting acquisition if the stream has stalled. Encode/save lives in
 // ImagePipeline.
 class VimbaCameraSource : public ICameraSource {
 public:
-    explicit VimbaCameraSource(CameraConfig config);
+    // specs and profiles are index-aligned and in open order: cameras[i] is
+    // configured by profiles[i], so a camera never inherits its neighbour's
+    // settings.
+    VimbaCameraSource(std::vector<CameraSpec> specs, std::vector<CameraProfile> profiles);
     ~VimbaCameraSource() override;
 
-    // Mode to apply at start(). Also the mode setMode() replaces.
-    void setInitialMode(CameraMode mode);
-
     void open() override;
     void close() override;
     void start() override;
     void stop() override;
     bool trigger() override;
-    bool setMode(const CameraMode& mode) override;
+    bool setProfile(int camera_index, const CameraProfile& profile) override;
     void setFrameCallback(FrameCallback cb) override;
     int  cameraCount() const override;
     std::vector<CameraDeviceInfo> deviceInfo() override;

include/fgc/mock/MockCameraSource.h

@@ -10,9 +10,9 @@ namespace fgc {
 
 // Synthetic camera for development without hardware. On trigger() it generates
 // a small RGB gradient frame (varying with time so successive captures differ)
-// and delivers it to the frame callback. setMode() only records the mode name -
+// and delivers it to the frame callback. setProfile() only records the profile
-// there is no sensor to configure - which is enough to exercise mode switching
+// name - there is no sensor to configure - which is enough to exercise profile
-// end to end with --mock-camera.
+// switching end to end with --mock-camera.
 class MockCameraSource : public ICameraSource {
 public:
     explicit MockCameraSource(int count = 1, uint32_t width = 640, uint32_t height = 480)
@@ -37,9 +37,9 @@ public:
     void setFrameCallback(FrameCallback cb) override { callback_ = std::move(cb); }
     int  cameraCount() const override { return count_; }
 
-    bool setMode(const CameraMode& mode) override {
+    bool setProfile(int camera_index, const CameraProfile& profile) override {
-        mode_ = mode.name;
+        profile_ = profile.name;
-        LOG_INFO << "[mock] camera mode -> " << mode_;
+        LOG_INFO << "[mock] camera " << camera_index << " profile -> " << profile_;
         return true;
     }
 
@@ -103,7 +103,7 @@ private:
     uint32_t      height_;
     bool          started_ = false;
     long long     frames_  = 0;
-    std::string   mode_;
+    std::string   profile_;
     FrameCallback callback_;
 };
 

include/fgc/mock/MockMotorController.h

@@ -29,6 +29,14 @@ public:
 
         if (verb == "HOME") {
             homed_ = true;
+            deviation_ = false;   // homing clears the latch, as on the real driver
+        } else if (verb == "STALL") {
+            // Test hook: fake the hardware encoder-deviation latch so the STALL
+            // badge is reachable without jamming a real axis. Latches like the
+            // real one - only HOME/RESET clears it.
+            deviation_ = true;
+        } else if (verb == "RESET") {
+            deviation_ = false;
         } else if (verb == "MOVE") {
             std::string a;
             in >> a;
@@ -139,6 +147,7 @@ private:
         }
         a.xactual = a.xenc;
         a.state   = homed_ ? AxisState::Ready : AxisState::Reset;
+        a.deviation = deviation_;
     }
 
     static void tryParse(const std::string& s, long& out) {
@@ -153,6 +162,7 @@ private:
     long          yaw_target_   = 0;
     long          pitch_target_ = 0;
     bool          homed_        = false;
+    bool          deviation_    = false;  // faked encoder-deviation latch (see STALL above)
     std::string   dump_;
     std::string   diag_;
     unsigned      diag_seq_ = 0;

include/fgc/ui/UiSnapshot.h

@@ -33,7 +33,8 @@ struct AxisView {
     unsigned    drv_status = 0;        // DRV_STATUS register
     bool        moving     = false;
     bool        standstill = false;
-    bool        stall      = false;
+    bool        stall      = false;   // StallGuard ('s') - inert on this rig
+    bool        deviation  = false;   // encoder-deviation latch ('d') - the real stall signal
     bool        overtemp   = false;
     bool        endstop_l  = false;
     bool        endstop_r  = false;
@@ -97,16 +98,28 @@ struct ScanWaypointView {
 };
 
 // Static imaging + encoding config (from CameraConfig), for the expanded view.
-struct CameraConfigView {
+// One configured camera, as the expanded view shows it. Everything here is
-    bool        mock = false;
+// explicit per camera - identity is never implied by position.
-    std::vector<std::string> ids;
+struct CameraView {
-    // Active camera mode (see CameraMode) and the ones available to switch to.
+    std::string name;                 // the [Camera.<name>] block
-    std::string mode, mode_desc;
+    std::string label;                // output subdir + CamEvent "cam"
+    std::string id;                   // USB DEV_ id or GigE IP
+    std::string driver;
+    bool        enabled = true;
+    std::string profile;              // active profile
+    std::vector<std::string> profiles_available;
+    std::string profile_dir;
+    std::string profile_xml;          // the file actually applied to the camera
     int         settle_wait_ms = 0;
-    std::vector<std::string> modes_available;
+    int         rotation_deg = 0;
-    double      jxl_distance = 0.0;        int    jxl_effort = 0;
+    double      jxl_distance = 0.0;
-    int         rotation_deg = 0;          // clockwise; 0 = none
+    int         jxl_effort = 0;
-    std::string output_dir;
+};
+
+struct CameraConfigView {
+    bool                    mock = false;
+    std::vector<CameraView> cameras;
+    std::string             output_dir;
 };
 
 // Live per-camera identity/telemetry/stats (from ICameraSource::deviceInfo()).

src/camera/ImagePipeline.cpp

@@ -65,10 +65,13 @@ void ImagePipeline::run() {
     }
 }
 
-std::string ImagePipeline::labelFor(int cam_id) const {
+const ImagePipeline::CameraOutput& ImagePipeline::outputFor(int cam_id) const {
-    if (cam_id >= 0 && cam_id < static_cast<int>(params_.labels.size()))
+    if (cam_id >= 0 && cam_id < static_cast<int>(params_.cameras.size()))
-        return params_.labels[cam_id];
+        return params_.cameras[cam_id];
-    return "cam" + std::to_string(cam_id);
+    // A source delivering an index we were not told about still has to write
+    // somewhere identifiable rather than colliding with camera 0.
+    static const CameraOutput fallback{"cam?", 0, 0.8, 4};
+    return fallback;
 }
 
 void ImagePipeline::process(const Frame& frame) {
@@ -77,11 +80,13 @@ void ImagePipeline::process(const Frame& frame) {
         return;
     }
 
+    const CameraOutput& out = outputFor(frame.cam_id);
+
     const int type = frame.channels == 1 ? CV_8UC1 : CV_8UC3;
     cv::Mat src(frame.height, frame.width, type, const_cast<uint8_t*>(frame.data.data()));
     cv::Mat rotated;
     int  code   = 0;
-    bool rotate = rotateCode(params_.rotation_deg, code);
+    bool rotate = rotateCode(out.rotation_deg, code);
     if (rotate) cv::rotate(src, rotated, code);
     // src only wraps frame.data, so an unrotated frame costs no copy at all.
     const cv::Mat& img = rotate ? rotated : src;
@@ -93,7 +98,8 @@ void ImagePipeline::process(const Frame& frame) {
         cv::waitKey(10);
     }
 
-    const std::string label = labelFor(frame.cam_id);
+    const std::string label = out.label.empty() ? ("cam" + std::to_string(frame.cam_id))
+                                                : out.label;
     const fs::path     dir   = fs::path(params_.output_dir) / label;
     std::error_code    ec;
     fs::create_directories(dir, ec);
@@ -108,8 +114,8 @@ void ImagePipeline::process(const Frame& frame) {
         if (ec) LOG_ERROR << "Demo copy failed: " << ec.message();
     } else {
         bool ok = JpegXlEncoder::encodeToFile(file.string(), img.data, img.cols, img.rows,
-                                              frame.channels, params_.jxl_distance,
+                                              frame.channels, out.jxl_distance,
-                                              params_.jxl_effort);
+                                              out.jxl_effort);
         if (!ok) {
             LOG_ERROR << "Failed to encode " << file.string();
             return;

src/camera/VimbaCameraSource.cpp

@@ -134,80 +134,50 @@ std::string getString(const CameraPtr& cam, const char* name) {
     return {};
 }
 
-bool parseBool(const std::string& v) {
+// Apply a profile by handing its settings XML to the SDK.
-    return v == "1" || v == "true" || v == "True" || v == "yes" || v == "on";
+//
-}
+// This replaces a hand-rolled feature applier, and the reason is validity rather
+// than brevity: GenICam writability is stateful (AcquisitionFrameRate is only
+// writable once AcquisitionFrameRateEnable is set, Width's maximum depends on
+// binning, and so on), so a text list applied line by line can be individually
+// plausible and collectively wrong. The XML comes out of the VimbaX Viewer,
+// which greys out invalid combinations as the operator configures, and
+// LoadSettings replays exactly that. Nothing else may write settings.
+bool applyProfile(const CameraPtr& cam, const CameraProfile& profile) {
+    VmbFeaturePersistSettings settings{};
+    settings.persistType   = VmbFeaturePersistNoLUT;
+    // RemoteDevice only: the transport-layer and stream sections of the export
+    // describe the host that produced it, not the sensor.
+    settings.modulePersistFlags = VmbModulePersistFlagsRemoteDevice;
+    settings.maxIterations = 10;   // features can need several passes to settle
+    settings.loggingLevel  = VmbLogLevelWarn;
 
-// Write one feature from a mode file, converting the string to whatever type the
+    const VmbErrorType rc = SP_ACCESS(cam)->LoadSettings(profile.xml_path.c_str(), &settings);
-// camera says the feature is. Mode files are hand-edited and cameras differ in
+    if (rc != VmbErrorSuccess) {
-// which features they expose (and which are locked at a given moment), so a
+        LOG_ERROR << "camera: applying profile '" << profile.name << "' from "
-// failure is a warning, never fatal - the warning IS the feedback that a mode
+                  << profile.xml_path << " failed (error " << rc << ')';
-// file has a typo in it.
+        return false;
-void applyFeature(const CameraPtr& cam, const std::string& name, const std::string& value) {
-    FeaturePtr f;
-    if (SP_ACCESS(cam)->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess) {
-        LOG_WARN << "camera: no such feature '" << name << "' (skipped)";
-        return;
     }
-
+    LOG_INFO << "camera profile '" << profile.name << "' applied from " << profile.xml_path
-    VmbFeatureDataType type = VmbFeatureDataUnknown;
+             << " (" << profile.settings.entries.size() << " settings)";
-    if (f->GetDataType(type) != VmbErrorSuccess) {
+    return true;
-        LOG_WARN << "camera: cannot read type of feature '" << name << "' (skipped)";
-        return;
-    }
-
-    VmbErrorType rc = VmbErrorSuccess;
-    try {
-        switch (type) {
-            case VmbFeatureDataInt:
-                rc = f->SetValue(static_cast<VmbInt64_t>(std::stoll(value)));
-                break;
-            case VmbFeatureDataFloat:
-                rc = f->SetValue(std::stod(value));
-                break;
-            case VmbFeatureDataBool:
-                rc = f->SetValue(parseBool(value));
-                break;
-            case VmbFeatureDataEnum:
-            case VmbFeatureDataString:
-                rc = f->SetValue(value.c_str());
-                break;
-            default:
-                LOG_WARN << "camera: feature '" << name << "' is not settable from a mode file";
-                return;
-        }
-    } catch (const std::exception&) {
-        LOG_WARN << "camera: feature '" << name << "' rejected value '" << value
-                 << "' (wrong number format)";
-        return;
-    }
-
-    if (rc != VmbErrorSuccess)
-        LOG_WARN << "camera: could not set " << name << '=' << value << " (error " << rc << ')';
-    else
-        LOG_TRACE_CAT(LogCat::Camera) << "SET " << name << '=' << value;
-}
-
-// Apply a whole mode, IN FILE ORDER - GenICam selectors are stateful, so order is
-// part of the meaning (see CameraMode.h).
-void applyMode(const CameraPtr& cam, const CameraMode& mode) {
-    for (const auto& [name, value] : mode.features) applyFeature(cam, name, value);
-    LOG_INFO << "camera mode '" << mode.name << "' applied (" << mode.features.size()
-             << " features)";
 }
 
 }  // namespace
 
 struct VimbaCameraSource::Impl {
-    explicit Impl(CameraConfig cfg) : config(std::move(cfg)), sys(VmbSystem::GetInstance()) {}
+    Impl(std::vector<CameraSpec> s, std::vector<CameraProfile> p)
+        : specs(std::move(s)), profiles(std::move(p)), sys(VmbSystem::GetInstance()) {}
 
     struct Identity { std::string id, model, serial; };
     struct Telemetry {
         double exposure_us = 0, gain_db = 0, temperature_c = 0, actual_fps = 0;
     };
 
-    CameraConfig                           config;
+    // One spec and one profile per camera, index-aligned and in open order, so a
-    CameraMode                             mode;      // applied at start() and by setMode()
+    // camera's settings are never those of the camera next to it.
+    std::vector<CameraSpec>                specs;
+    std::vector<CameraProfile>             profiles;
     VmbSystem&                             sys;
     std::vector<CameraPtr>                 cameras;
     std::vector<IFrameObserverPtr>         observers;
@@ -247,8 +217,9 @@ struct VimbaCameraSource::Impl {
 
 };
 
-VimbaCameraSource::VimbaCameraSource(CameraConfig config)
+VimbaCameraSource::VimbaCameraSource(std::vector<CameraSpec> specs,
-    : impl_(std::make_unique<Impl>(std::move(config))) {}
+                                     std::vector<CameraProfile> profiles)
+    : impl_(std::make_unique<Impl>(std::move(specs), std::move(profiles))) {}
 
 VimbaCameraSource::~VimbaCameraSource() {
     try {
@@ -262,19 +233,28 @@ VimbaCameraSource::~VimbaCameraSource() {
 void VimbaCameraSource::open() {
     if (impl_->sys.Startup() != VmbErrorSuccess)
         throw std::runtime_error("Could not start Vimba X API");
-    for (const auto& id : impl_->config.ids) {
+    for (const auto& spec : impl_->specs) {
+        const std::string& id = spec.id;
         CameraPtr cam;
         if (impl_->sys.GetCameraByID(id.c_str(), cam) != VmbErrorSuccess)
-            throw std::runtime_error("Camera not found: " + id);
+            throw std::runtime_error("Camera '" + spec.name + "' not found: " + id);
-        if (cam->Open(VmbAccessModeFull) != VmbErrorSuccess)
+        if (const VmbErrorType rc = cam->Open(VmbAccessModeFull); rc != VmbErrorSuccess) {
-            throw std::runtime_error("Could not open camera: " + id);
+            std::string why;
+            if (rc == VmbErrorInvalidAccess || rc == VmbErrorBusy)
+                why = " - another process has it open (is the VimbaX Viewer still running?)";
+            else if (rc == VmbErrorNotFound)
+                why = " - it disappeared between discovery and open (USB reset?)";
+            throw std::runtime_error("Could not open camera '" + spec.name + "': " + id +
+                                     " (Vimba error " + std::to_string(rc) + ")" + why);
+        }
         impl_->cameras.push_back(cam);
         // Per-camera stats (persist across restart) + identity (read once here).
         impl_->stats.push_back(std::make_unique<CamStats>());
         impl_->telemetry.emplace_back();
         impl_->identity.push_back({id, getString(cam, "DeviceModelName"),
                                    getString(cam, "DeviceSerialNumber")});
-        LOG_INFO << "Opened camera " << id << " (" << impl_->identity.back().model << ')';
+        LOG_INFO << "Opened camera '" << spec.name << "' " << id << " ("
+                 << impl_->identity.back().model << ')';
     }
 }
 
@@ -284,30 +264,36 @@ void VimbaCameraSource::close() {
     impl_->sys.Shutdown();
 }
 
-void VimbaCameraSource::setInitialMode(CameraMode mode) { impl_->mode = std::move(mode); }
-
 void VimbaCameraSource::start() {
-    for (auto& cam : impl_->cameras) applyMode(cam, impl_->mode);
+    for (size_t i = 0; i < impl_->cameras.size() && i < impl_->profiles.size(); ++i)
+        applyProfile(impl_->cameras[i], impl_->profiles[i]);
     impl_->startAcquisition();
     impl_->started = true;
 }
 
-bool VimbaCameraSource::setMode(const CameraMode& mode) {
+bool VimbaCameraSource::setProfile(int camera_index, const CameraProfile& profile) {
-    impl_->mode = mode;
+    const size_t idx = static_cast<size_t>(camera_index);
+    if (camera_index < 0 || idx >= impl_->cameras.size() || idx >= impl_->profiles.size()) {
+        LOG_WARN << "camera: setProfile for unknown camera index " << camera_index;
+        return false;
+    }
+
+    impl_->profiles[idx] = profile;
     if (!impl_->started) return true;  // start() will apply it
 
     // Binning, ROI and pixel format cannot be written while the stream runs, and a
-    // mode may change any of them, so always cycle the stream. Mode switches are
+    // profile may change any of them, so always cycle the stream. Profile switches
-    // rare; a per-feature "is this writable live" allow-list would be fragile.
+    // are rare; a per-feature "is this writable live" allow-list would be fragile.
     try {
         impl_->stopAcquisition();
-        for (auto& cam : impl_->cameras) applyMode(cam, impl_->mode);
+        const bool ok = applyProfile(impl_->cameras[idx], profile);
         impl_->startAcquisition();
+        if (!ok) return false;
     } catch (const std::exception& e) {
-        LOG_ERROR << "camera: applying mode '" << mode.name << "' failed: " << e.what();
+        LOG_ERROR << "camera: applying profile '" << profile.name << "' failed: " << e.what();
         return false;
     }
-    // The next trigger() must not hand back a frame exposed under the old mode.
+    // The next trigger() must not hand back a frame exposed under the old profile.
     impl_->last_captured_ts = nowMs();
     return true;
 }

src/core/Application.cpp

@@ -7,7 +7,7 @@
 #include "fgc/DumpParser.h"
 #include "fgc/HelpText.h"
 #include "fgc/Paths.h"
-#include "fgc/CameraMode.h"
+#include "fgc/CameraProfile.h"
 #include "fgc/ICameraSource.h"
 #include "fgc/IControlChannel.h"
 #include "fgc/IEnvSensor.h"
@@ -183,9 +183,10 @@ struct Application::Impl {
     std::unique_ptr<IMotorController> motor;
     std::unique_ptr<ICameraSource>    camera;
     // Camera modes, loaded once at startup and kept so a live switch needs no disk
-    // access. `camera_mode` is the active one.
+    // access. Keyed by camera name, then profile name; `active_profile` tracks
-    std::map<std::string, CameraMode> camera_modes;
+    // which profile each camera is currently on.
-    std::string                       camera_mode;
+    std::map<std::string, std::map<std::string, CameraProfile>> camera_profiles;
+    std::map<std::string, std::string>                          active_profile;
     std::unique_ptr<IImuSource>       imu;
     std::unique_ptr<IEnvSensor>       env;
     std::unique_ptr<ImagePipeline>    pipeline;
@@ -296,49 +297,113 @@ struct Application::Impl {
             mock = true;
         }
 #endif
+        const auto active = cfg.camera.active();
         if (mock) {
-            int count = cfg.camera.ids.empty() ? 1 : static_cast<int>(cfg.camera.ids.size());
+            return std::make_unique<MockCameraSource>(
-            return std::make_unique<MockCameraSource>(count);
+                active.empty() ? 1 : static_cast<int>(active.size()));
         }
 #if FGC_WITH_VIMBA
-        auto cam = std::make_unique<VimbaCameraSource>(cfg.camera);
+        std::vector<CameraSpec>    specs;
-        cam->setInitialMode(camera_modes.at(camera_mode));
+        std::vector<CameraProfile> profiles;
-        return cam;
+        for (const auto* c : active) {
+            specs.push_back(*c);
+            profiles.push_back(camera_profiles.at(c->name).at(active_profile.at(c->name)));
+        }
+        return std::make_unique<VimbaCameraSource>(std::move(specs), std::move(profiles));
 #else
         return std::make_unique<MockCameraSource>(1);
 #endif
     }
 
-    // Load every mode file up front, so a typo in a mode nobody is using today
+    // Load every profile of every camera up front. Two reasons: a profile nobody
-    // still fails at startup rather than the first time someone switches to it.
+    // is using today still fails at startup rather than the first time someone
-    void loadModes() {
+    // switches to it, and a settings XML edited in the Viewer is detected and
-        camera_modes = fgc::loadCameraModes(cfg.camera.mode_dir);
+    // reported here rather than silently taking effect.
-        if (camera_modes.find(cfg.camera.mode) == camera_modes.end()) {
+    void loadProfiles() {
-            std::string known;
+        if (cfg.camera.cameras.empty())
-            for (const auto& [name, m] : camera_modes) known += (known.empty() ? "" : ", ") + name;
+            throw std::runtime_error("no cameras configured (expected at least one "
-            throw std::runtime_error("Camera.mode '" + cfg.camera.mode + "' has no " +
+                                     "[Camera.<name>] block)");
-                                     cfg.camera.mode + ".ini in " + cfg.camera.mode_dir +
+
-                                     " (available: " + known + ")");
+        for (const auto& c : cfg.camera.cameras) {
+            if (!c.enabled) continue;
+            std::map<std::string, fgc::ProfileLoadResult> results;
+            auto profiles = fgc::loadCameraProfiles(c.profile_dir, results);
+
+            if (profiles.find(c.profile) == profiles.end()) {
+                std::string known;
+                for (const auto& [name, p] : profiles) known += (known.empty() ? "" : ", ") + name;
+                throw std::runtime_error("Camera." + c.name + ".profile '" + c.profile +
+                                         "' has no " + c.profile + ".xml in " + c.profile_dir +
+                                         " (available: " + known + ")");
+            }
+
+            LOG_INFO << "camera '" << c.name << "': " << profiles.size() << " profile(s) from "
+                     << c.profile_dir << "; active '" << c.profile << "'";
+            for (const auto& [pname, r] : results) {
+                if (r.first_run) {
+                    // Nothing changed - there was simply no record yet.
+                    LOG_INFO << "camera '" << c.name << "' profile '" << pname
+                             << "': writing " << pname << ".txt (no previous record)";
+                    continue;
+                }
+                // A changed XML is a warning, not an info line: the camera is about
+                // to behave differently from the last run and nobody edited this
+                // program.
+                LOG_WARN << "camera '" << c.name << "' profile '" << pname
+                         << "': settings XML changed, regenerating " << pname << ".txt";
+                for (const auto& line : r.changes) LOG_WARN << "  " << line;
+            }
+
+            camera_profiles[c.name] = std::move(profiles);
+            active_profile[c.name]  = c.profile;
         }
-        camera_mode = cfg.camera.mode;
-        LOG_INFO << "camera modes: " << camera_modes.size() << " from " << cfg.camera.mode_dir
-                 << "; active '" << camera_mode << "'";
     }
 
-    // Switch the live camera mode by name. Returns false (and warns) if unknown.
+    // Switch one camera's profile by name. With no camera named, applies to the
-    bool applyMode(const std::string& name) {
+    // single configured camera. Returns false (and warns) if unknown.
-        auto it = camera_modes.find(name);
+    bool applyProfile(const std::string& cam_name, const std::string& name) {
-        if (it == camera_modes.end()) {
+        auto ci = camera_profiles.find(cam_name);
+        if (ci == camera_profiles.end()) {
             std::string known;
-            for (const auto& [n, m] : camera_modes) known += (known.empty() ? "" : ", ") + n;
+            for (const auto& [n, p] : camera_profiles) known += (known.empty() ? "" : ", ") + n;
-            LOG_WARN << "unknown camera mode '" << name << "' (available: " << known << ')';
+            LOG_WARN << "unknown camera '" << cam_name << "' (configured: " << known << ')';
             return false;
         }
-        if (camera) camera->setMode(it->second);
+        auto it = ci->second.find(name);
-        camera_mode = name;
+        if (it == ci->second.end()) {
-        if (scheduler)
+            std::string known;
-            scheduler->setSettleWait(it->second.settle_wait_ms, it->second.frame_timeout_ms);
+            for (const auto& [n, p] : ci->second) known += (known.empty() ? "" : ", ") + n;
-        LOG_INFO << "camera mode -> " << name << " (" << it->second.description << ')';
+            LOG_WARN << "unknown profile '" << name << "' for camera '" << cam_name
+                     << "' (available: " << known << ')';
+            return false;
+        }
+        // The index is the camera's position among the ACTIVE cameras, which is the
+        // order the source opened them in and the order Frame::cam_id follows.
+        int index = -1, i = 0;
+        for (const auto* c : cfg.camera.active()) {
+            if (c->name == cam_name) { index = i; break; }
+            ++i;
+        }
+        if (index < 0) {
+            LOG_WARN << "camera '" << cam_name << "' is configured but not enabled";
+            return false;
+        }
+        if (camera) camera->setProfile(index, it->second);
+        active_profile[cam_name] = name;
+
+        // The gimbal must stand still long enough for every camera, so recompute
+        // from all of them rather than from the one that just changed.
+        if (scheduler) {
+            int settle = 0, timeout = 0;
+            for (const auto* c : cfg.camera.active()) {
+                const auto t = c->timingFor(active_profile.count(c->name) ? active_profile[c->name]
+                                                                         : c->profile);
+                settle  = std::max(settle, t.settle_wait_ms);
+                timeout = std::max(timeout, t.frame_timeout_ms);
+            }
+            scheduler->setSettleWait(settle, timeout);
+        }
+        LOG_INFO << "camera '" << cam_name << "' profile -> " << name;
         return true;
     }
 
@@ -532,6 +597,7 @@ struct Application::Impl {
             v.moving     = a.moving();
             v.standstill = a.standstill;
             v.stall      = a.stall;
+            v.deviation  = a.deviation;
             v.overtemp   = a.overtemp;
             v.endstop_l  = a.endstop_l;
             v.endstop_r  = a.endstop_r;
@@ -663,23 +729,36 @@ struct Application::Impl {
         s.capture.active       = scheduler && scheduler->captureActive();
         s.capture.image_rate   = scheduler ? scheduler->imageRate() : 0.0;
         s.capture.camera_count = camera ? camera->cameraCount() : 0;
-        s.capture.labels       = cfg.camera.labels;
+        s.capture.labels.clear();
-        // Static imaging + encoding config, for the expanded camera view.
+        for (const auto* c : cfg.camera.active()) s.capture.labels.push_back(c->label);
+        // Per-camera configuration, for the expanded camera view.
         {
             auto& cc = s.capture.config;
-            cc.mock              = opts.mock_camera.value_or(cfg.features.mock_camera);
+            cc.mock = opts.mock_camera.value_or(cfg.features.mock_camera);
-            cc.ids               = cfg.camera.ids;
+            cc.output_dir = cfg.paths.output_dir;
-            cc.mode              = camera_mode;
+            cc.cameras.clear();
-            if (auto it = camera_modes.find(camera_mode); it != camera_modes.end()) {
+            for (const auto& c : cfg.camera.cameras) {
-                cc.mode_desc      = it->second.description;
+                CameraView v;
-                cc.settle_wait_ms = it->second.settle_wait_ms;
+                v.name         = c.name;
+                v.label        = c.label;
+                v.id           = c.id;
+                v.driver       = c.driver;
+                v.enabled      = c.enabled;
+                v.profile_dir  = c.profile_dir;
+                v.rotation_deg = c.rotation_deg;
+                v.jxl_distance = c.jxl_distance;
+                v.jxl_effort   = c.jxl_effort;
+                auto ap = active_profile.find(c.name);
+                v.profile = ap != active_profile.end() ? ap->second : c.profile;
+                v.settle_wait_ms = c.timingFor(v.profile).settle_wait_ms;
+                if (auto ci = camera_profiles.find(c.name); ci != camera_profiles.end()) {
+                    for (const auto& [pname, prof] : ci->second)
+                        v.profiles_available.push_back(pname);
+                    if (auto pi = ci->second.find(v.profile); pi != ci->second.end())
+                        v.profile_xml = pi->second.xml_path;
+                }
+                cc.cameras.push_back(std::move(v));
             }
-            cc.modes_available.clear();
-            for (const auto& [name, m] : camera_modes) cc.modes_available.push_back(name);
-            cc.jxl_distance      = cfg.camera.jxl_distance;
-            cc.jxl_effort        = cfg.camera.jxl_effort;
-            cc.rotation_deg      = cfg.camera.rotation_deg;
-            cc.output_dir        = cfg.paths.output_dir;
         }
         // Live per-camera identity/telemetry/stats.
         s.capture.devices.clear();
@@ -1532,10 +1611,22 @@ struct Application::Impl {
             handleTrace(c);
         } else if (c.verb == "set") {
             if (c.device == "camera") {
-                // "set camera mode night" arrives as option="mode night": the parser
+                // "set camera profile night" arrives as option="profile night":
-                // joins non-numeric trailing tokens into `option`.
+                // the parser joins non-numeric trailing tokens into `option`. With
-                if (c.option.rfind("mode ", 0) == 0) applyMode(c.option.substr(5));
+                // two words after "profile" the first names the camera.
-                else if (c.option == "mode") LOG_WARN << "usage: set camera mode <name>";
+                if (c.option.rfind("profile ", 0) == 0) {
+                    const std::string arg = c.option.substr(8);
+                    const auto sp = arg.find(' ');
+                    if (sp != std::string::npos)
+                        applyProfile(arg.substr(0, sp), arg.substr(sp + 1));
+                    else if (camera_profiles.size() == 1)
+                        applyProfile(camera_profiles.begin()->first, arg);
+                    else
+                        LOG_WARN << "more than one camera configured: "
+                                    "usage: set camera profile <camera> <name>";
+                } else if (c.option == "profile") {
+                    LOG_WARN << "usage: set camera profile [<camera>] <name>";
+                }
                 else if (c.option == "jxlq" && c.has_value) pipeline->setDistance(c.value);
                 else if (c.option == "jxle" && c.has_value) pipeline->setEffort(static_cast<int>(c.value));
                 else if (c.option == "display") pipeline->setDisplay(c.value != 0.0);
@@ -1588,7 +1679,7 @@ struct Application::Impl {
         if (Logger::categories())
             LOG_INFO << "wire trace enabled: " << traceNames(Logger::categories());
 
-        loadModes();  // before makeCamera(): the mode is applied at start()
+        loadProfiles();  // before makeCamera(): the profile is applied at start()
 
         channel = makeChannel();
         motor   = makeMotor();
@@ -1616,12 +1707,12 @@ struct Application::Impl {
 
         ImagePipeline::Params pp;
         pp.output_dir = cfg.paths.output_dir;
-        pp.labels     = cfg.camera.labels;
         pp.tower      = cfg.general.tower_name;
         pp.demo       = opts.demo;
-        pp.jxl_distance = cfg.camera.jxl_distance;
+        // In open order, matching Frame::cam_id: the source opens the active
-        pp.jxl_effort   = cfg.camera.jxl_effort;
+        // cameras in this order too.
-        pp.rotation_deg = cfg.camera.rotation_deg;
+        for (const auto* c : cfg.camera.active())
+            pp.cameras.push_back({c->label, c->rotation_deg, c->jxl_distance, c->jxl_effort});
         // Orientation supplier: convert the per-axis encoder counts to degrees.
         pipeline = std::make_unique<ImagePipeline>(
             *channel,
@@ -1644,10 +1735,9 @@ struct Application::Impl {
         LOG_INFO << "scan grid: " << grid.size() << " waypoints";
         scheduler = std::make_unique<CaptureScheduler>(*motor, *camera, *channel, cfg.image_rate(),
                                                        cfg.geometry, grid);
-        {
+        // Every camera has to have finished by the time the gimbal moves on, so
-            const CameraMode& m = camera_modes.at(camera_mode);
+        // the wait is the longest across them, not the first one's.
-            scheduler->setSettleWait(m.settle_wait_ms, m.frame_timeout_ms);
+        scheduler->setSettleWait(cfg.camera.maxSettleWaitMs(), cfg.camera.maxFrameTimeoutMs());
-        }
 
         motor->start();
         if (imu) imu->start();

src/core/CameraMode.cpp

@@ -1,95 +0,0 @@
-#include "fgc/CameraMode.h"
-
-#include <algorithm>
-#include <filesystem>
-#include <stdexcept>
-#include <string>
-
-extern "C" {
-#include "ini.h"
-}
-
-namespace fs = std::filesystem;
-
-namespace fgc {
-
-namespace {
-
-// inih callback. Unlike Config.cpp's handler this APPENDS rather than writing a
-// map: mode files depend on file order and on repeated keys (see CameraMode).
-int modeHandler(void* user, const char* section, const char* name, const char* value) {
-    auto* m = static_cast<CameraMode*>(user);
-    const std::string sec = section ? section : "";
-    const std::string key = name ? name : "";
-    const std::string val = value ? value : "";
-
-    if (sec == "Camera") {
-        m->features.emplace_back(key, val);
-        return 1;
-    }
-    if (sec != "Mode") return 0;  // unknown section -> parse error
-
-    if (key == "description") {
-        m->description = val;
-    } else if (key == "settle_wait_ms" || key == "frame_timeout_ms") {
-        int parsed = 0;
-        try {
-            size_t consumed = 0;
-            parsed = std::stoi(val, &consumed);
-            if (consumed != val.size() || parsed < 0) return 0;
-        } catch (const std::exception&) {
-            return 0;
-        }
-        (key == "settle_wait_ms" ? m->settle_wait_ms : m->frame_timeout_ms) = parsed;
-    } else {
-        return 0;  // unknown [Mode] key -> parse error, not a silent typo
-    }
-    return 1;
-}
-
-}  // namespace
-
-CameraMode loadCameraMode(const std::string& path) {
-    CameraMode mode;
-    mode.name = fs::path(path).stem().string();
-
-    const int rc = ini_parse(path.c_str(), modeHandler, &mode);
-    if (rc == -1)
-        throw std::runtime_error("Cannot open camera mode file: " + path);
-    if (rc == -2)
-        throw std::runtime_error("Out of memory reading camera mode file: " + path);
-    if (rc > 0)
-        throw std::runtime_error("Camera mode file '" + path + "' line " + std::to_string(rc) +
-                                 ": unknown section, unknown [Mode] key, or invalid value "
-                                 "(expected [Mode] description/settle_wait_ms/frame_timeout_ms, "
-                                 "or a [Camera] feature)");
-    if (mode.features.empty())
-        throw std::runtime_error("Camera mode file '" + path + "' sets no [Camera] features");
-
-    return mode;
-}
-
-std::map<std::string, CameraMode> loadCameraModes(const std::string& dir) {
-    std::error_code ec;
-    if (!fs::is_directory(dir, ec))
-        throw std::runtime_error("Camera mode directory not found: " + dir);
-
-    // Sorted so startup logs and the UI list modes in a stable order.
-    std::vector<fs::path> files;
-    for (const auto& entry : fs::directory_iterator(dir, ec))
-        if (entry.is_regular_file() && entry.path().extension() == ".ini")
-            files.push_back(entry.path());
-    std::sort(files.begin(), files.end());
-
-    std::map<std::string, CameraMode> modes;
-    for (const auto& f : files) {
-        CameraMode m = loadCameraMode(f.string());
-        modes.emplace(m.name, std::move(m));
-    }
-    if (modes.empty())
-        throw std::runtime_error("No camera modes (*.ini) in " + dir);
-
-    return modes;
-}
-
-}  // namespace fgc

src/core/CameraProfile.cpp

@@ -0,0 +1,80 @@
+#include "fgc/CameraProfile.h"
+
+#include "fgc/Hash.h"
+
+#include <algorithm>
+#include <filesystem>
+#include <fstream>
+#include <stdexcept>
+
+namespace fs = std::filesystem;
+
+namespace fgc {
+
+CameraProfile loadCameraProfile(const std::string& profile_dir, const std::string& name,
+                                ProfileLoadResult& result) {
+    result = {};
+
+    CameraProfile p;
+    p.name     = name;
+    p.xml_path = (fs::path(profile_dir) / (name + ".xml")).string();
+    p.txt_path = (fs::path(profile_dir) / (name + ".txt")).string();
+
+    if (!fs::is_regular_file(p.xml_path))
+        throw std::runtime_error("camera profile '" + name + "': " + p.xml_path +
+                                 " not found (export it from the VimbaX Viewer)");
+
+    const std::string label = hashLabel(fnv1a64File(p.xml_path));
+    p.settings = parseCameraSettingsXml(p.xml_path);
+
+    // An absent or stale record is regenerated. Reading the old one first is what
+    // lets the caller report WHICH settings moved, rather than just that the file
+    // changed - that difference is the whole value of the check.
+    const SettingsRecord old = readSettingsRecord(p.txt_path);
+    if (old.hash_label == label) return p;
+
+    result.regenerated = true;
+    // No previous record means no baseline, not 800 changed settings.
+    result.first_run   = old.hash_label.empty() && old.entries.empty();
+    if (!result.first_run) result.changes = diffSettings(old.entries, p.settings.entries);
+
+    const std::string xml_name = fs::path(p.xml_path).filename().string();
+    std::ofstream out(p.txt_path, std::ios::binary | std::ios::trunc);
+    if (!out)
+        throw std::runtime_error("camera profile '" + name + "': cannot write the settings "
+                                 "record " + p.txt_path);
+    out << renderSettingsRecord(p.settings, xml_name, label);
+    if (!out)
+        throw std::runtime_error("camera profile '" + name + "': failed writing " + p.txt_path);
+
+    return p;
+}
+
+std::map<std::string, CameraProfile> loadCameraProfiles(
+    const std::string& dir, std::map<std::string, ProfileLoadResult>& results) {
+    results.clear();
+
+    std::error_code ec;
+    if (!fs::is_directory(dir, ec))
+        throw std::runtime_error("camera profile directory not found: " + dir);
+
+    // Sorted so startup logs and the UI list profiles in a stable order.
+    std::vector<std::string> names;
+    for (const auto& entry : fs::directory_iterator(dir, ec))
+        if (entry.is_regular_file() && entry.path().extension() == ".xml")
+            names.push_back(entry.path().stem().string());
+    std::sort(names.begin(), names.end());
+
+    std::map<std::string, CameraProfile> out;
+    for (const auto& n : names) {
+        ProfileLoadResult r;
+        out.emplace(n, loadCameraProfile(dir, n, r));
+        if (r.regenerated) results.emplace(n, std::move(r));
+    }
+    if (out.empty())
+        throw std::runtime_error("no camera profiles (*.xml) in " + dir +
+                                 " (export them from the VimbaX Viewer)");
+    return out;
+}
+
+}  // namespace fgc

src/core/CameraSettingsXml.cpp

@@ -0,0 +1,219 @@
+#include "fgc/CameraSettingsXml.h"
+
+#include <algorithm>
+#include <ctime>
+#include <fstream>
+#include <map>
+#include <sstream>
+#include <stdexcept>
+
+namespace fgc {
+
+namespace {
+
+// The input is machine-generated by the VimbaX Viewer and has a fixed, flat
+// shape: <Feature Name=".." Value=".." Type=".." /> elements, some nested in
+// <SelectorGroup Name=".." Value=".." >. A targeted scanner is enough for that
+// and keeps the project free of an XML dependency - but it validates what it
+// finds and throws rather than guessing, because a silently mis-parsed settings
+// file would be worse than a missing one.
+
+// Value of `attr` in `tag`, or "" when absent.
+std::string attrValue(const std::string& tag, const std::string& attr) {
+    const std::string key = attr + "=\"";
+    const auto pos = tag.find(key);
+    if (pos == std::string::npos) return "";
+    const auto start = pos + key.size();
+    const auto end   = tag.find('"', start);
+    if (end == std::string::npos) return "";
+    return tag.substr(start, end - start);
+}
+
+std::string slurp(const std::string& path) {
+    std::ifstream in(path, std::ios::binary);
+    if (!in) throw std::runtime_error("cannot read camera settings XML: " + path);
+    std::ostringstream ss;
+    ss << in.rdbuf();
+    return ss.str();
+}
+
+std::string nowIso8601() {
+    const std::time_t t = std::time(nullptr);
+    std::tm tm{};
+    localtime_r(&t, &tm);
+    char buf[32];
+    std::strftime(buf, sizeof(buf), "%Y-%m-%dT%H:%M:%S", &tm);
+    return buf;
+}
+
+}  // namespace
+
+CameraSettings parseCameraSettingsXml(const std::string& path) {
+    const std::string xml = slurp(path);
+
+    CameraSettings out;
+    const auto info = xml.find("<CameraInfo");
+    if (info != std::string::npos) {
+        const auto close = xml.find('>', info);
+        const std::string tag = xml.substr(info, close - info);
+        out.model     = attrValue(tag, "Model");
+        out.device_id = attrValue(tag, "Id");
+    }
+
+    // Only <RemoteDevice>: <LocalDevice> and the stream sections describe the
+    // host's transport layer, which is per-machine and must not be replayed.
+    const auto begin = xml.find("<RemoteDevice>");
+    if (begin == std::string::npos)
+        throw std::runtime_error("not a VimbaX settings export (no <RemoteDevice>): " + path);
+    const auto end = xml.find("</RemoteDevice>", begin);
+    if (end == std::string::npos)
+        throw std::runtime_error("malformed VimbaX settings export (unterminated "
+                                 "<RemoteDevice>): " + path);
+    const std::string body = xml.substr(begin, end - begin);
+
+    // Walk the block in order, tracking the enclosing SelectorGroup so a repeated
+    // feature name (BalanceRatio for Red and Blue, say) stays distinguishable.
+    std::string selector;
+    size_t      i = 0;
+    while (i < body.size()) {
+        const auto lt = body.find('<', i);
+        if (lt == std::string::npos) break;
+        const auto gt = body.find('>', lt);
+        if (gt == std::string::npos) break;
+        const std::string tag = body.substr(lt, gt - lt + 1);
+        i = gt + 1;
+
+        if (tag.rfind("<SelectorGroup", 0) == 0) {
+            selector = attrValue(tag, "Name") + "=" + attrValue(tag, "Value");
+        } else if (tag.rfind("</SelectorGroup", 0) == 0) {
+            selector.clear();
+        } else if (tag.rfind("<Feature", 0) == 0) {
+            SettingEntry e;
+            e.name     = attrValue(tag, "Name");
+            e.value    = attrValue(tag, "Value");
+            e.selector = selector;
+            if (!e.name.empty()) out.entries.push_back(std::move(e));
+        }
+    }
+
+    if (out.entries.empty())
+        throw std::runtime_error("VimbaX settings export has no features: " + path);
+    return out;
+}
+
+std::string renderSettingsRecord(const CameraSettings& s, const std::string& xml_name,
+                                 const std::string& hash_label) {
+    std::ostringstream o;
+    o << "; ===========================================================================\n"
+         ";  GENERATED - THIS FILE DOES NOT CONFIGURE THE CAMERA\n"
+         ";\n"
+         ";  A human-readable record of what " << xml_name << " contains, so the settings\n"
+         ";  can be read and diffed without opening the Viewer. The program applies\n"
+         ";  " << xml_name << " directly through the Vimba X SDK. Nothing here is ever\n"
+         ";  written to the camera, and editing this file changes nothing.\n"
+         ";\n"
+         ";  To change the settings: open the VimbaX Viewer, configure the camera there\n"
+         ";  (it validates combinations as you go), save the settings XML over\n"
+         ";  " << xml_name << ", and restart. This file is then regenerated and the\n"
+         ";  changes are listed in the log.\n"
+         "; ===========================================================================\n\n";
+
+    o << "[Source]\n"
+      << "xml       = " << xml_name << "\n"
+      << "xml_hash  = " << hash_label << "\n"
+      << "generated = " << nowIso8601() << "\n";
+    if (!s.model.empty())     o << "model     = " << s.model << "\n";
+    if (!s.device_id.empty()) o << "device_id = " << s.device_id << "\n";
+
+    o << "\n[Settings]\n";
+    std::string current_selector;
+    for (const auto& e : s.entries) {
+        // Reproduce the selector context as a comment: without it a repeated
+        // feature name reads as a duplicate rather than a per-selector value.
+        if (e.selector != current_selector) {
+            current_selector = e.selector;
+            o << "; --- " << (current_selector.empty() ? "(none)" : current_selector) << "\n";
+        }
+        o << e.name << " = " << e.value << "\n";
+    }
+    return o.str();
+}
+
+SettingsRecord readSettingsRecord(const std::string& path) {
+    SettingsRecord rec;
+    std::ifstream in(path);
+    if (!in) return rec;  // absent: caller treats it as a mismatch
+
+    std::string line;
+    bool        in_settings = false;
+    std::string selector;
+    while (std::getline(in, line)) {
+        // Selector context is written as a comment; recover it so a diff can tell
+        // BalanceRatio-for-Red from BalanceRatio-for-Blue.
+        if (line.rfind("; --- ", 0) == 0) {
+            selector = line.substr(6);
+            if (selector == "(none)") selector.clear();
+            continue;
+        }
+        if (!line.empty() && line[0] == ';') continue;
+        if (line == "[Settings]") { in_settings = true; continue; }
+        if (!line.empty() && line[0] == '[') { in_settings = false; continue; }
+
+        const auto eq = line.find('=');
+        if (eq == std::string::npos) continue;
+        auto trim = [](std::string v) {
+            const auto a = v.find_first_not_of(" \t\r");
+            if (a == std::string::npos) return std::string();
+            const auto b = v.find_last_not_of(" \t\r");
+            return v.substr(a, b - a + 1);
+        };
+        const std::string key = trim(line.substr(0, eq));
+        const std::string val = trim(line.substr(eq + 1));
+        if (in_settings) {
+            rec.entries.push_back({key, val, selector});
+        } else if (key == "xml_hash") {
+            rec.hash_label = val;
+        }
+    }
+    return rec;
+}
+
+std::vector<std::string> diffSettings(const std::vector<SettingEntry>& before,
+                                      const std::vector<SettingEntry>& after) {
+    // Key by selector + name + occurrence index. A real Viewer export repeats the
+    // same SelectorGroup name AND value (FileOperationSelector=Open appears once
+    // per FileSelector group), so selector+name alone is not unique - keying on it
+    // collapsed the duplicates and reported every one after the first as "new",
+    // burying a one-line change under hundreds of phantom ones.
+    auto keyed = [](const std::vector<SettingEntry>& v) {
+        std::map<std::string, const SettingEntry*> m;
+        std::map<std::string, int>                 seen;
+        for (const auto& e : v) {
+            const std::string base = e.selector + "|" + e.name;
+            m[base + "|" + std::to_string(seen[base]++)] = &e;
+        }
+        return m;
+    };
+    auto label = [](const SettingEntry& e) {
+        return e.selector.empty() ? e.name : e.name + " [" + e.selector + "]";
+    };
+
+    auto old_by_key = keyed(before);
+    auto new_by_key = keyed(after);
+
+    std::vector<std::string> out;
+    for (const auto& [k, e] : new_by_key) {
+        auto it = old_by_key.find(k);
+        if (it == old_by_key.end()) {
+            out.push_back("+ " + label(*e) + "  " + e->value + "  (new)");
+        } else if (it->second->value != e->value) {
+            out.push_back(label(*e) + "  " + it->second->value + " -> " + e->value);
+        }
+    }
+    for (const auto& [k, e] : old_by_key)
+        if (new_by_key.find(k) == new_by_key.end())
+            out.push_back("- " + label(*e) + "  (removed)");
+    return out;
+}
+
+}  // namespace fgc

src/core/Config.cpp

@@ -108,6 +108,31 @@ int iniHandler(void* user, const char* section, const char* name, const char* va
 
 }  // namespace
 
+CameraProfileTiming CameraSpec::timingFor(const std::string& profile_name) const {
+    auto it = timing.find(profile_name);
+    return it != timing.end() ? it->second : CameraProfileTiming{};
+}
+
+std::vector<const CameraSpec*> CameraConfig::active() const {
+    std::vector<const CameraSpec*> out;
+    for (const auto& c : cameras)
+        if (c.enabled) out.push_back(&c);
+    return out;
+}
+
+int CameraConfig::maxSettleWaitMs() const {
+    int worst = 0;
+    for (const auto* c : active()) worst = std::max(worst, c->timingFor(c->profile).settle_wait_ms);
+    return worst > 0 ? worst : CameraProfileTiming{}.settle_wait_ms;
+}
+
+int CameraConfig::maxFrameTimeoutMs() const {
+    int worst = 0;
+    for (const auto* c : active())
+        worst = std::max(worst, c->timingFor(c->profile).frame_timeout_ms);
+    return worst > 0 ? worst : CameraProfileTiming{}.frame_timeout_ms;
+}
+
 std::string NetworkConfig::brokerUri() const {
     // A scheme means the operator wrote the whole URI: hands off. Appending a port
     // could corrupt one that already has it, or a ws:// path.
@@ -192,25 +217,81 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
     cfg.serial.device = get(kv, "Serial.device", cfg.serial.device);
     cfg.serial.baud   = static_cast<unsigned>(getInt(kv, "Serial.baud", cfg.serial.baud));
 
-    cfg.camera.ids.clear();
+    // ---- [Camera] shared defaults, then one [Camera.<name>] block per camera ----
-    for (const char* key : {"Camera.id_Cam1", "Camera.id_Cam2", "Camera.id_Cam3", "Camera.id_Cam4"}) {
+    cfg.camera.jxl_distance = getDouble(kv, "Camera.jxl_distance", cfg.camera.jxl_distance);
-        std::string id = get(kv, key);
+    cfg.camera.jxl_effort   = getInt(kv, "Camera.jxl_effort", cfg.camera.jxl_effort);
-        if (!id.empty()) cfg.camera.ids.push_back(id);
+
+    // Cameras are discovered from the key names rather than a list, so there is
+    // no registry to keep in sync: "Camera.rgb.id" declares a camera called rgb.
+    // A third dotted segment ("Camera.rgb.standard.settle_wait_ms") is per-profile
+    // timing, so only two-segment suffixes name a camera.
+    std::vector<std::string> names;      // in first-seen order
+    for (const auto& [key, unused] : kv) {
+        (void)unused;
+        if (key.rfind("Camera.", 0) != 0) continue;
+        const std::string rest = key.substr(7);
+        const auto dot = rest.find('.');
+        if (dot == std::string::npos) continue;                     // [Camera] itself
+        const std::string name = rest.substr(0, dot);
+        if (rest.find('.', dot + 1) != std::string::npos) {         // per-profile timing
+            if (std::find(names.begin(), names.end(), name) == names.end()) names.push_back(name);
+            continue;
+        }
+        if (std::find(names.begin(), names.end(), name) == names.end()) names.push_back(name);
     }
 
-    // On-camera imaging + encoding. See CameraConfig for why the defaults are conservative.
+    cfg.camera.cameras.clear();
-    cfg.camera.mode_dir          = get(kv, "Camera.mode_dir", cfg.camera.mode_dir);
+    for (const auto& name : names) {
-    cfg.camera.mode              = get(kv, "Camera.mode", cfg.camera.mode);
+        const std::string pre = "Camera." + name + ".";
-    cfg.camera.jxl_distance      = getDouble(kv, "Camera.jxl_distance", cfg.camera.jxl_distance);
+        CameraSpec c;
-    cfg.camera.jxl_effort        = getInt(kv, "Camera.jxl_effort", cfg.camera.jxl_effort);
+        c.name         = name;
-    cfg.camera.rotation_deg      = getInt(kv, "Camera.rotation_deg", cfg.camera.rotation_deg);
+        c.enabled      = getBool(kv, pre + "enabled", true);
-    if (cfg.camera.jxl_distance < 0.0)
+        c.driver       = get(kv, pre + "driver", c.driver);
-        throw std::runtime_error("Camera.jxl_distance must be >= 0 (0 = lossless)");
+        c.id           = get(kv, pre + "id");
-    if (cfg.camera.jxl_effort < 1 || cfg.camera.jxl_effort > 9)
+        c.label        = get(kv, pre + "label", name);
-        throw std::runtime_error("Camera.jxl_effort must be in 1..9");
+        c.profile_dir  = get(kv, pre + "profile_dir");
-    if (cfg.camera.rotation_deg != 0 && cfg.camera.rotation_deg != 90 &&
+        c.profile      = get(kv, pre + "profile", c.profile);
-        cfg.camera.rotation_deg != 180 && cfg.camera.rotation_deg != 270)
+        c.rotation_deg = getInt(kv, pre + "rotation_deg", c.rotation_deg);
-        throw std::runtime_error("Camera.rotation_deg must be 0, 90, 180 or 270");
+        c.jxl_distance = getDouble(kv, pre + "jxl_distance", cfg.camera.jxl_distance);
+        c.jxl_effort   = getInt(kv, pre + "jxl_effort", cfg.camera.jxl_effort);
+
+        // Per-profile timing: Camera.<name>.<profile>.settle_wait_ms
+        for (const auto& [key, val] : kv) {
+            (void)val;
+            if (key.rfind(pre, 0) != 0) continue;
+            const std::string rest = key.substr(pre.size());
+            const auto dot = rest.find('.');
+            if (dot == std::string::npos) continue;
+            const std::string profile = rest.substr(0, dot);
+            const std::string field   = rest.substr(dot + 1);
+            CameraProfileTiming& t = c.timing[profile];
+            if (field == "settle_wait_ms")        t.settle_wait_ms   = getInt(kv, key, t.settle_wait_ms);
+            else if (field == "frame_timeout_ms") t.frame_timeout_ms = getInt(kv, key, t.frame_timeout_ms);
+            else throw std::runtime_error("unknown key '" + key + "' (expected " + pre +
+                                          profile + ".settle_wait_ms or .frame_timeout_ms)");
+        }
+
+        if (c.driver != "vimba")
+            throw std::runtime_error("Camera." + name + ".driver must be 'vimba' (got '" +
+                                     c.driver + "'); no other backend is implemented yet");
+        if (c.enabled && c.id.empty())
+            throw std::runtime_error("Camera." + name + ".id is required (USB DEV_ id or GigE IP)");
+        if (c.profile_dir.empty())
+            throw std::runtime_error("Camera." + name + ".profile_dir is required");
+        if (c.jxl_distance < 0.0)
+            throw std::runtime_error("Camera." + name + ".jxl_distance must be >= 0 (0 = lossless)");
+        if (c.jxl_effort < 1 || c.jxl_effort > 9)
+            throw std::runtime_error("Camera." + name + ".jxl_effort must be in 1..9");
+        if (c.rotation_deg != 0 && c.rotation_deg != 90 && c.rotation_deg != 180 &&
+            c.rotation_deg != 270)
+            throw std::runtime_error("Camera." + name + ".rotation_deg must be 0, 90, 180 or 270");
+        for (const auto& [pname, t] : c.timing) {
+            if (t.settle_wait_ms < 0 || t.frame_timeout_ms < 0)
+                throw std::runtime_error("Camera." + name + "." + pname +
+                                         " timings must be >= 0");
+        }
+        cfg.camera.cameras.push_back(std::move(c));
+    }
 
     std::string out = get(kv, "Paths.output_dir");
     cfg.paths.output_dir = out.empty() ? paths::defaultOutputDir() : paths::expandUser(out);
@@ -317,11 +398,11 @@ AppConfig ConfigLoader::loadFromFile(const std::string& path) {
         if (gf.is_relative()) gf = std::filesystem::path(path).parent_path() / gf;
         cfg.scan.grid_file = gf.lexically_normal().string();
     }
-    // Same for the camera mode directory.
+    // Same for each camera's profile directory.
-    {
+    for (auto& c : cfg.camera.cameras) {
-        std::filesystem::path md(paths::expandUser(cfg.camera.mode_dir));
+        std::filesystem::path pd(paths::expandUser(c.profile_dir));
-        if (md.is_relative()) md = std::filesystem::path(path).parent_path() / md;
+        if (pd.is_relative()) pd = std::filesystem::path(path).parent_path() / pd;
-        cfg.camera.mode_dir = md.lexically_normal().string();
+        c.profile_dir = pd.lexically_normal().string();
     }
     return cfg;
 }

src/core/Hash.cpp

@@ -0,0 +1,40 @@
+#include "fgc/Hash.h"
+
+#include <cstdio>
+#include <fstream>
+#include <sstream>
+#include <stdexcept>
+
+namespace fgc {
+
+namespace {
+constexpr uint64_t kOffsetBasis = 0xcbf29ce484222325ULL;
+constexpr uint64_t kPrime       = 0x00000100000001b3ULL;
+}  // namespace
+
+uint64_t fnv1a64(const std::string& data) {
+    uint64_t h = kOffsetBasis;
+    for (unsigned char c : data) {
+        h ^= c;
+        h *= kPrime;
+    }
+    return h;
+}
+
+std::string hashLabel(uint64_t digest) {
+    char buf[32];
+    std::snprintf(buf, sizeof(buf), "fnv1a64:%016llx", static_cast<unsigned long long>(digest));
+    return buf;
+}
+
+uint64_t fnv1a64File(const std::string& path) {
+    // Binary: the digest must not depend on how the platform treats line endings,
+    // or a file copied between machines would look changed when it is not.
+    std::ifstream in(path, std::ios::binary);
+    if (!in) throw std::runtime_error("cannot read file for hashing: " + path);
+    std::ostringstream ss;
+    ss << in.rdbuf();
+    return fnv1a64(ss.str());
+}
+
+}  // namespace fgc

src/core/HelpText.cpp

@@ -102,11 +102,12 @@ const std::vector<HelpSection>& helpCatalog() {
             {"start", "Begin the capture scan.", {}},
             {"stop",  "Halt the capture scan.", {}},
             {"set fps <rate>", "Set capture rate in images/second.", {}},
-            {"set camera mode <name>",
+            {"set camera profile [<camera>] <name>",
-             "Switch the camera mode (rate, exposure limits, imaging settings).", {
+             "Switch a camera's profile (rate, exposure, all imaging settings).", {
-                "Modes are files in [Camera] mode_dir, one .ini each; the name is the",
+                "A profile is a settings XML exported from the VimbaX Viewer, in that",
-                "filename stem.",
+                "camera's [Camera.<name>] profile_dir; the name is the filename stem. The",
-                "Example:  set camera mode night"}},
+                "camera may be omitted when only one is configured.",
+                "Example:  set camera profile night   /   set camera profile rgb night"}},
             {"set camera jxlq <dist>", "Set JPEG-XL distance (lower = higher quality).", {}},
             {"set camera jxle <effort>", "Set JPEG-XL encode effort.", {}},
             {"set camera display <0|1>", "Toggle the local display window.", {}},

src/core/TelemetryParser.cpp

@@ -53,6 +53,7 @@ std::optional<AxisTelemetry> parseAxisSegment(const std::string& seg) {
                 switch (c) {
                     case 'S': a.standstill = true; break;
                     case 's': a.stall      = true; break;
+                    case 'd': a.deviation  = true; break;
                     case 'o': case 'O': a.overtemp = true; break;
                     case 'L': a.endstop_l  = true; break;
                     case 'R': a.endstop_r  = true; break;

src/ui/TuiUi.cpp

@@ -247,12 +247,12 @@ Element axisRow(const AxisView& a) {
               text("   x=" + std::to_string(a.xactual)) | dim,
               text("  enc=" + std::to_string(a.xenc)) | dim}),
         hbox({text("  "),
-              badge("STILL", a.standstill, Color::GrayLight),
+              badge("STILL", a.standstill, Color::Cyan),
               badge("MOVE", a.moving, Color::Cyan),
-              badge("STALL", a.stall, Color::Red),
+              badge("STALL", a.deviation, Color::Red),
               badge("OT", a.overtemp, Color::Red),
-              badge("L", a.endstop_l, Color::Yellow),
+              badge("L", a.endstop_l, Color::Cyan),
-              badge("R", a.endstop_r, Color::Yellow)}),
+              badge("R", a.endstop_r, Color::Cyan)}),
     });
 }
 
@@ -305,8 +305,17 @@ Element cameraPanel(const CaptureView& c) {
     if (!c.scan_error.empty())
         rows.push_back(labelRow("scan", hbox({text(" GRID LOAD FAILED ") | color(Color::Red) | bold,
                                               text(" c for details") | dim})));
-    rows.push_back(labelRow("mode", text(c.config.mode.empty() ? "\xE2\x80\x94" : c.config.mode) |
+    {
-                                        color(Color::Cyan)));
+        // One line per camera: "<label> <profile>", so which camera is on which
+        // profile is visible without opening the expanded view.
+        std::string on;
+        for (const auto& v : c.config.cameras) {
+            if (!v.enabled) continue;
+            on += (on.empty() ? "" : "  ") + v.label + " " + v.profile;
+        }
+        rows.push_back(labelRow("profile", text(on.empty() ? "\xE2\x80\x94" : on) |
+                                               color(Color::Cyan)));
+    }
     if (c.has_last) {
         long long now = std::chrono::duration_cast<std::chrono::milliseconds>(
                             std::chrono::system_clock::now().time_since_epoch()).count();
@@ -335,7 +344,6 @@ Element cameraDetailPanel(const CaptureView& c, ScrollState& st) {
     rows.push_back(hbox({text("capture       ") | dim, active, filler(),
                          text(num(c.image_rate, 3) + " img/s") | dim}));
     rows.push_back(row("images", text(std::to_string(c.images_saved) + " saved this session")));
-    rows.push_back(row("output", text(c.config.output_dir.empty() ? "—" : c.config.output_dir) | dim));
 
     // --- Devices: identity + live telemetry ---
     rows.push_back(separator());
@@ -364,25 +372,37 @@ Element cameraDetailPanel(const CaptureView& c, ScrollState& st) {
         })));
     }
 
-    // --- Imaging config ---
+    // --- Cameras: one block each, everything explicit ---
     const CameraConfigView& cf = c.config;
     rows.push_back(separator());
-    rows.push_back(text("CAMERA MODE") | bold | color(Color::Blue));
+    rows.push_back(hbox({text("CAMERAS") | bold | color(Color::Blue),
-    rows.push_back(row("driver", text(cf.mock ? "MOCK (simulated)" : "real camera (Vimba X)")));
+                         text(cf.mock ? "  MOCK (simulated)" : "  Vimba X") | dim}));
-    rows.push_back(row("mode", hbox({text(cf.mode.empty() ? "—" : cf.mode) | color(Color::Cyan) | bold,
+    if (cf.cameras.empty()) rows.push_back(text("(no cameras configured)") | dim);
-                                     text("  " + cf.mode_desc) | dim})));
+    for (const auto& v : cf.cameras) {
-    rows.push_back(row("settle", text(std::to_string(cf.settle_wait_ms) +
+        rows.push_back(hbox({
-                                      " ms after standstill before keeping a frame")));
+            text(v.label.empty() ? v.name : v.label) | bold,
-    {
+            text("  [" + v.name + "]") | dim,
-        std::string others;
+            text("  " + v.id) | dim,
-        for (const auto& m : cf.modes_available) others += (others.empty() ? "" : ", ") + m;
+            filler(),
-        rows.push_back(row("available", text(others.empty() ? "—" : others) | dim));
+            v.enabled ? (text("enabled") | color(Color::Green)) : (text("disabled") | dim),
+        }));
+        rows.push_back(row("  profile", hbox({
+            text(v.profile.empty() ? "\xE2\x80\x94" : v.profile) | color(Color::Cyan) | bold,
+            text("  " + v.profile_xml) | dim})));
+        {
+            std::string others;
+            for (const auto& p : v.profiles_available) others += (others.empty() ? "" : ", ") + p;
+            rows.push_back(row("  available", text(others.empty() ? "\xE2\x80\x94" : others) | dim));
+        }
+        rows.push_back(row("  settle", text(std::to_string(v.settle_wait_ms) +
+                                            " ms after standstill before keeping a frame")));
+        rows.push_back(row("  encoding", text("JPEG XL   distance " + num(v.jxl_distance, 2) +
+                                              "   effort " + std::to_string(v.jxl_effort))));
+        rows.push_back(row("  rotation", text(v.rotation_deg == 0
+                                                  ? std::string("none")
+                                                  : std::to_string(v.rotation_deg) + " deg CW")));
     }
-    rows.push_back(row("encoding", text("JPEG XL   distance " + num(cf.jxl_distance, 2) +
+    rows.push_back(row("output", text(cf.output_dir.empty() ? "\xE2\x80\x94" : cf.output_dir) | dim));
-                                        "   effort " + std::to_string(cf.jxl_effort))));
-    rows.push_back(row("rotation", text(cf.rotation_deg == 0
-                                            ? std::string("none")
-                                            : std::to_string(cf.rotation_deg) + " deg CW")));
 
     // --- Last capture ---
     if (c.has_last) {
@@ -685,12 +705,12 @@ Element axisLiveDetail(const AxisView& a) {
         kvRow("PWM", std::to_string(a.pwm)),
         kvRow("DRV_STATUS", hex8(a.drv_status), Color::Cyan),
         hbox({text("flags") | dim | size(WIDTH, EQUAL, 12),
-              badge("STILL", a.standstill, Color::GrayLight),
+              badge("STILL", a.standstill, Color::Cyan),
               badge("MOVE", a.moving, Color::Cyan),
-              badge("STALL", a.stall, Color::Red),
+              badge("STALL", a.deviation, Color::Red),
               badge("OT", a.overtemp, Color::Red),
-              badge("L", a.endstop_l, Color::Yellow),
+              badge("L", a.endstop_l, Color::Cyan),
-              badge("R", a.endstop_r, Color::Yellow)}),
+              badge("R", a.endstop_r, Color::Cyan)}),
     };
     // Homing limits (endstops found at homing), degrees then raw counts.
     if (a.has_limits) {

src/ui/UiSnapshot.cpp

@@ -20,8 +20,8 @@ const char* axisStateLabel(AxisState s) {
 
 UiColor axisStateColor(AxisState s) {
     switch (s) {
-        case AxisState::Ready:  return UiColor::Green;
+        case AxisState::Ready:
-        case AxisState::Homing: return UiColor::Yellow;
+        case AxisState::Homing: return UiColor::Cyan;
         case AxisState::Error:  return UiColor::Red;
         case AxisState::Boot:
         case AxisState::Reset:  return UiColor::Dim;

tests/CMakeLists.txt

@@ -22,7 +22,9 @@ add_executable(fgc_tests
   test_paths.cpp
   test_singleinstance.cpp
   test_config.cpp
-  test_cameramode.cpp
+  test_cameraprofile.cpp
+  test_camerasettingsxml.cpp
+  test_hash.cpp
   test_channelhistory.cpp
   test_telemetry.cpp
   test_command.cpp

tests/test_cameramode.cpp

@@ -1,168 +0,0 @@
-#include <doctest/doctest.h>
-
-#include "fgc/CameraMode.h"
-
-#include <filesystem>
-#include <fstream>
-#include <string>
-
-#include <unistd.h>
-
-using namespace fgc;
-namespace fs = std::filesystem;
-
-namespace {
-
-// Each test gets its own directory so a stale file can never leak between them.
-fs::path scratchDir(const std::string& tag) {
-    fs::path d = fs::temp_directory_path() / ("fgc_modes_" + tag + "_" + std::to_string(::getpid()));
-    fs::remove_all(d);
-    fs::create_directories(d);
-    return d;
-}
-
-void write(const fs::path& p, const std::string& text) {
-    std::ofstream f(p);
-    f << text;
-}
-
-const char* kMinimal = R"(
-[Mode]
-description = A mode
-settle_wait_ms = 1500
-frame_timeout_ms = 3000
-
-[Camera]
-AcquisitionFrameRate = 10
-ExposureAuto = Continuous
-)";
-
-}  // namespace
-
-TEST_CASE("loadCameraMode reads the header and names the mode after the file") {
-    fs::path d = scratchDir("header");
-    write(d / "standard.ini", kMinimal);
-
-    CameraMode m = loadCameraMode((d / "standard.ini").string());
-    CHECK(m.name == "standard");
-    CHECK(m.description == "A mode");
-    CHECK(m.settle_wait_ms == 1500);
-    CHECK(m.frame_timeout_ms == 3000);
-    REQUIRE(m.features.size() == 2);
-
-    fs::remove_all(d);
-}
-
-TEST_CASE("loadCameraMode defaults the [Mode] header when it is absent") {
-    fs::path d = scratchDir("defaults");
-    write(d / "bare.ini", "[Camera]\nGamma = 1.0\n");
-
-    CameraMode m = loadCameraMode((d / "bare.ini").string());
-    CHECK(m.description.empty());
-    CHECK(m.settle_wait_ms == 1000);
-    CHECK(m.frame_timeout_ms == 2000);
-
-    fs::remove_all(d);
-}
-
-TEST_CASE("loadCameraMode preserves file order and repeated keys") {
-    // GenICam selectors are stateful, so both properties are load-bearing: a map
-    // would sort BalanceRatio ahead of BalanceRatioSelector and collapse the two
-    // ratios into one.
-    fs::path d = scratchDir("order");
-    write(d / "wb.ini", R"(
-[Camera]
-BalanceRatioSelector = Red
-BalanceRatio = 2.87
-BalanceRatioSelector = Blue
-BalanceRatio = 2.0
-)");
-
-    CameraMode m = loadCameraMode((d / "wb.ini").string());
-    REQUIRE(m.features.size() == 4);
-    CHECK(m.features[0] == std::make_pair(std::string("BalanceRatioSelector"), std::string("Red")));
-    CHECK(m.features[1] == std::make_pair(std::string("BalanceRatio"), std::string("2.87")));
-    CHECK(m.features[2] == std::make_pair(std::string("BalanceRatioSelector"), std::string("Blue")));
-    CHECK(m.features[3] == std::make_pair(std::string("BalanceRatio"), std::string("2.0")));
-
-    fs::remove_all(d);
-}
-
-TEST_CASE("loadCameraMode strips inline comments from feature values") {
-    fs::path d = scratchDir("comments");
-    write(d / "c.ini", "[Camera]\nExposureAutoMax = 20000  ; blur budget\n");
-
-    CameraMode m = loadCameraMode((d / "c.ini").string());
-    REQUIRE(m.features.size() == 1);
-    CHECK(m.features[0].second == "20000");
-
-    fs::remove_all(d);
-}
-
-TEST_CASE("loadCameraMode rejects files a typo would otherwise make silently wrong") {
-    fs::path d = scratchDir("bad");
-
-    write(d / "unknown_key.ini", "[Mode]\nsettle_wait = 500\n[Camera]\nGamma = 1\n");
-    CHECK_THROWS(loadCameraMode((d / "unknown_key.ini").string()));
-
-    write(d / "unknown_section.ini", "[Modes]\ndescription = x\n[Camera]\nGamma = 1\n");
-    CHECK_THROWS(loadCameraMode((d / "unknown_section.ini").string()));
-
-    write(d / "bad_value.ini", "[Mode]\nsettle_wait_ms = soon\n[Camera]\nGamma = 1\n");
-    CHECK_THROWS(loadCameraMode((d / "bad_value.ini").string()));
-
-    write(d / "negative.ini", "[Mode]\nsettle_wait_ms = -1\n[Camera]\nGamma = 1\n");
-    CHECK_THROWS(loadCameraMode((d / "negative.ini").string()));
-
-    // A mode that sets nothing on the camera is a mistake, not an empty mode.
-    write(d / "no_features.ini", "[Mode]\ndescription = nothing\n");
-    CHECK_THROWS(loadCameraMode((d / "no_features.ini").string()));
-
-    CHECK_THROWS(loadCameraMode((d / "does_not_exist.ini").string()));
-
-    fs::remove_all(d);
-}
-
-TEST_CASE("loadCameraModes picks up every *.ini in the directory") {
-    fs::path d = scratchDir("dir");
-    write(d / "standard.ini", kMinimal);
-    write(d / "night.ini", kMinimal);
-    write(d / "notes.txt", "not a mode");
-
-    auto modes = loadCameraModes(d.string());
-    CHECK(modes.size() == 2);
-    CHECK(modes.count("standard") == 1);
-    CHECK(modes.count("night") == 1);
-    CHECK(modes.count("notes") == 0);
-
-    fs::remove_all(d);
-}
-
-TEST_CASE("loadCameraModes fails loudly on an empty or missing directory") {
-    fs::path d = scratchDir("empty");
-    CHECK_THROWS(loadCameraModes(d.string()));
-    CHECK_THROWS(loadCameraModes((d / "nope").string()));
-
-    // One bad file fails the whole load, so a mode nobody uses today still cannot
-    // rot unnoticed until the night someone switches to it.
-    write(d / "good.ini", kMinimal);
-    write(d / "bad.ini", "[Mode]\nnonsense = 1\n");
-    CHECK_THROWS(loadCameraModes(d.string()));
-
-    fs::remove_all(d);
-}
-
-TEST_CASE("the shipped RGB mode files parse and define both modes") {
-    // Guards the real config/camera_modes/rgb files, which the rig depends on.
-    for (const char* rel : {"config/camera_modes/rgb", "../config/camera_modes/rgb"}) {
-        if (!fs::is_directory(rel)) continue;
-        auto modes = loadCameraModes(rel);
-        REQUIRE(modes.count("standard") == 1);
-        REQUIRE(modes.count("night") == 1);
-        CHECK(modes.at("standard").settle_wait_ms == 1000);
-        CHECK(modes.at("night").settle_wait_ms == 2500);
-        CHECK(modes.at("standard").features.size() > 40);
-        return;
-    }
-    MESSAGE("shipped mode files not reachable from the test working directory; skipped");
-}

tests/test_cameraprofile.cpp

@@ -0,0 +1,147 @@
+#include <doctest/doctest.h>
+
+#include "fgc/CameraProfile.h"
+#include "fgc/Hash.h"
+
+#include <algorithm>
+#include <filesystem>
+#include <fstream>
+#include <string>
+
+#include <unistd.h>
+
+using namespace fgc;
+namespace fs = std::filesystem;
+
+namespace {
+
+fs::path scratch(const std::string& tag) {
+    fs::path d = fs::temp_directory_path() / ("fgc_prof_" + tag + "_" + std::to_string(::getpid()));
+    fs::remove_all(d);
+    fs::create_directories(d);
+    return d;
+}
+
+std::string xmlWith(const std::string& rate) {
+    return
+        "<ModuleSettings><CameraInfo Id=\"DEV_1\" Model=\"1800 U-2040c\">"
+        "<RemoteDevice>"
+        "<Feature Name=\"AcquisitionFrameRate\" Value=\"" + rate + "\" Type=\"Float\" />"
+        "<Feature Name=\"Gamma\" Value=\"1\" Type=\"Float\" />"
+        "</RemoteDevice></CameraInfo></ModuleSettings>";
+}
+
+void write(const fs::path& p, const std::string& text) {
+    std::ofstream f(p, std::ios::binary);
+    f << text;
+}
+
+}  // namespace
+
+TEST_CASE("loadCameraProfile generates the record on first load") {
+    fs::path d = scratch("first");
+    write(d / "standard.xml", xmlWith("10"));
+
+    ProfileLoadResult r;
+    CameraProfile p = loadCameraProfile(d.string(), "standard", r);
+
+    CHECK(p.name == "standard");
+    CHECK(p.xml_path == (d / "standard.xml").string());
+    CHECK(p.txt_path == (d / "standard.txt").string());
+    CHECK(fs::is_regular_file(p.txt_path));
+    CHECK(p.settings.entries.size() == 2);
+    // A first load has no baseline: reporting every setting as "new" would be
+    // thousands of lines and no information for a real export.
+    CHECK(r.regenerated);
+    CHECK(r.first_run);
+    CHECK(r.changes.empty());
+
+    // The record carries the hash of the XML it came from.
+    SettingsRecord rec = readSettingsRecord(p.txt_path);
+    CHECK(rec.hash_label == hashLabel(fnv1a64File(p.xml_path)));
+
+    fs::remove_all(d);
+}
+
+TEST_CASE("an unchanged XML is not regenerated and reports no changes") {
+    fs::path d = scratch("stable");
+    write(d / "standard.xml", xmlWith("10"));
+
+    ProfileLoadResult r;
+    loadCameraProfile(d.string(), "standard", r);
+    const auto stamp = fs::last_write_time(d / "standard.txt");
+
+    loadCameraProfile(d.string(), "standard", r);
+    CHECK_FALSE(r.regenerated);
+    CHECK(r.changes.empty());
+    // Untouched: a rewrite every startup would churn the file and its timestamp.
+    CHECK(fs::last_write_time(d / "standard.txt") == stamp);
+
+    fs::remove_all(d);
+}
+
+TEST_CASE("a changed XML regenerates the record and names what moved") {
+    fs::path d = scratch("changed");
+    write(d / "standard.xml", xmlWith("10"));
+    ProfileLoadResult r;
+    loadCameraProfile(d.string(), "standard", r);
+
+    write(d / "standard.xml", xmlWith("8"));
+    CameraProfile p = loadCameraProfile(d.string(), "standard", r);
+
+    CHECK(r.regenerated);
+    CHECK_FALSE(r.first_run);   // there WAS a baseline, so this is a real change
+    REQUIRE(r.changes.size() == 1);
+    CHECK(r.changes[0].find("AcquisitionFrameRate") != std::string::npos);
+    CHECK(r.changes[0].find("10 -> 8") != std::string::npos);
+
+    // And the record now matches the new XML.
+    SettingsRecord rec = readSettingsRecord(p.txt_path);
+    CHECK(rec.hash_label == hashLabel(fnv1a64File(p.xml_path)));
+
+    fs::remove_all(d);
+}
+
+TEST_CASE("a missing XML throws - the record is never a fallback") {
+    fs::path d = scratch("missing");
+    // A record on its own must not make the profile loadable: it is a record, not
+    // a configuration source, and applying one would defeat the GUI validation
+    // that the XML exists to guarantee.
+    write(d / "standard.txt", "[Source]\nxml_hash = fnv1a64:0000000000000000\n[Settings]\nGamma = 1\n");
+
+    ProfileLoadResult r;
+    CHECK_THROWS(loadCameraProfile(d.string(), "standard", r));
+
+    fs::remove_all(d);
+}
+
+TEST_CASE("loadCameraProfiles picks up every *.xml and fails loudly when there are none") {
+    fs::path d = scratch("dir");
+    std::map<std::string, ProfileLoadResult> results;
+
+    CHECK_THROWS(loadCameraProfiles(d.string(), results));            // empty directory
+    CHECK_THROWS(loadCameraProfiles((d / "nope").string(), results)); // missing directory
+
+    write(d / "standard.xml", xmlWith("10"));
+    write(d / "night.xml", xmlWith("1"));
+    write(d / "notes.md", "not a profile");
+
+    auto profiles = loadCameraProfiles(d.string(), results);
+    CHECK(profiles.size() == 2);
+    CHECK(profiles.count("standard") == 1);
+    CHECK(profiles.count("night") == 1);
+    CHECK(profiles.count("notes") == 0);
+    // Both were written for the first time, and neither reports a change.
+    REQUIRE(results.size() == 2);
+    for (const auto& [name, r] : results) {
+        CHECK(r.first_run);
+        CHECK(r.changes.empty());
+    }
+
+    // One bad profile fails the whole load, so a profile nobody uses today cannot
+    // rot unnoticed until the night someone switches to it.
+    write(d / "broken.xml", "<ModuleSettings></ModuleSettings>");
+    CHECK_THROWS(loadCameraProfiles(d.string(), results));
+
+    fs::remove_all(d);
+}

tests/test_camerasettingsxml.cpp

@@ -0,0 +1,207 @@
+#include <doctest/doctest.h>
+
+#include "fgc/CameraSettingsXml.h"
+
+#include <algorithm>
+#include <filesystem>
+#include <fstream>
+#include <string>
+
+#include <unistd.h>
+
+using namespace fgc;
+namespace fs = std::filesystem;
+
+namespace {
+
+fs::path scratch(const std::string& tag) {
+    fs::path d = fs::temp_directory_path() / ("fgc_xml_" + tag + "_" + std::to_string(::getpid()));
+    fs::remove_all(d);
+    fs::create_directories(d);
+    return d;
+}
+
+void write(const fs::path& p, const std::string& text) {
+    std::ofstream f(p, std::ios::binary);
+    f << text;
+}
+
+// A miniature Viewer export: the two blocks that matter, plus a SelectorGroup.
+const char* kXml = R"(<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<ModuleSettings>
+    <CameraInfo Id="DEV_1AB22C02B9F4" Model="1800 U-2040c">
+        <LocalDevice>
+            <Feature Name="DeviceDisplayName" Value="Should Not Appear" Type="String" />
+        </LocalDevice>
+        <RemoteDevice>
+            <Feature Name="AcquisitionFrameRate" Value="10" Type="Float" />
+            <SelectorGroup Name="BalanceRatioSelector" Type="Enum" Value="Red">
+                <Feature Name="BalanceRatio" Value="2.87" Type="Float" />
+            </SelectorGroup>
+            <SelectorGroup Name="BalanceRatioSelector" Type="Enum" Value="Blue">
+                <Feature Name="BalanceRatio" Value="2.00" Type="Float" />
+            </SelectorGroup>
+            <Feature Name="Gamma" Value="1" Type="Float" />
+        </RemoteDevice>
+    </CameraInfo>
+</ModuleSettings>
+)";
+
+const SettingEntry* find(const CameraSettings& s, const std::string& name,
+                         const std::string& selector) {
+    for (const auto& e : s.entries)
+        if (e.name == name && e.selector == selector) return &e;
+    return nullptr;
+}
+
+}  // namespace
+
+TEST_CASE("parseCameraSettingsXml reads RemoteDevice only, in order") {
+    fs::path d = scratch("parse");
+    write(d / "p.xml", kXml);
+
+    CameraSettings s = parseCameraSettingsXml((d / "p.xml").string());
+    CHECK(s.model == "1800 U-2040c");
+    CHECK(s.device_id == "DEV_1AB22C02B9F4");
+
+    // LocalDevice describes the host's transport layer and must never be replayed.
+    CHECK(find(s, "DeviceDisplayName", "") == nullptr);
+
+    REQUIRE(s.entries.size() == 4);
+    CHECK(s.entries[0].name == "AcquisitionFrameRate");
+    CHECK(s.entries[3].name == "Gamma");
+
+    // A repeated feature name stays distinguishable by its selector, or the two
+    // white-balance ratios would collapse into one.
+    const auto* red  = find(s, "BalanceRatio", "BalanceRatioSelector=Red");
+    const auto* blue = find(s, "BalanceRatio", "BalanceRatioSelector=Blue");
+    REQUIRE(red);
+    REQUIRE(blue);
+    CHECK(red->value == "2.87");
+    CHECK(blue->value == "2.00");
+
+    fs::remove_all(d);
+}
+
+TEST_CASE("parseCameraSettingsXml rejects anything that is not a Viewer export") {
+    fs::path d = scratch("bad");
+
+    write(d / "empty.xml", "<ModuleSettings></ModuleSettings>");
+    CHECK_THROWS(parseCameraSettingsXml((d / "empty.xml").string()));   // no RemoteDevice
+
+    write(d / "trunc.xml", "<ModuleSettings><RemoteDevice><Feature Name=\"A\" Value=\"1\" />");
+    CHECK_THROWS(parseCameraSettingsXml((d / "trunc.xml").string()));   // unterminated
+
+    write(d / "nofeat.xml", "<RemoteDevice></RemoteDevice>");
+    CHECK_THROWS(parseCameraSettingsXml((d / "nofeat.xml").string()));  // no features
+
+    CHECK_THROWS(parseCameraSettingsXml((d / "missing.xml").string()));
+
+    fs::remove_all(d);
+}
+
+TEST_CASE("the record round-trips: render then read back gives the same settings") {
+    fs::path d = scratch("record");
+    write(d / "p.xml", kXml);
+    CameraSettings s = parseCameraSettingsXml((d / "p.xml").string());
+
+    const std::string text = renderSettingsRecord(s, "p.xml", "fnv1a64:0123456789abcdef");
+    // The header has to be unmissable: this file configures nothing.
+    CHECK(text.find("DOES NOT CONFIGURE THE CAMERA") != std::string::npos);
+    CHECK(text.find("VimbaX Viewer") != std::string::npos);
+
+    write(d / "p.txt", text);
+    SettingsRecord rec = readSettingsRecord((d / "p.txt").string());
+    CHECK(rec.hash_label == "fnv1a64:0123456789abcdef");
+    REQUIRE(rec.entries.size() == s.entries.size());
+    for (size_t i = 0; i < s.entries.size(); ++i) {
+        CHECK(rec.entries[i].name == s.entries[i].name);
+        CHECK(rec.entries[i].value == s.entries[i].value);
+        CHECK(rec.entries[i].selector == s.entries[i].selector);
+    }
+
+    fs::remove_all(d);
+}
+
+TEST_CASE("readSettingsRecord treats a missing file as no record") {
+    SettingsRecord rec = readSettingsRecord("/nonexistent/nope.txt");
+    CHECK(rec.hash_label.empty());
+    CHECK(rec.entries.empty());
+}
+
+TEST_CASE("diffSettings names what changed, not just that something did") {
+    std::vector<SettingEntry> before = {
+        {"AcquisitionFrameRate", "10", ""},
+        {"ExposureAutoMax", "20000", ""},
+        {"Sharpness", "0", ""},
+        {"BalanceRatio", "2.87", "BalanceRatioSelector=Red"},
+    };
+    std::vector<SettingEntry> after = {
+        {"AcquisitionFrameRate", "8", ""},          // changed
+        {"ExposureAutoMax", "20000", ""},           // same
+        {"Gamma", "1.2", ""},                       // new
+        {"BalanceRatio", "3.10", "BalanceRatioSelector=Red"},  // changed, per selector
+    };                                              // Sharpness removed
+
+    auto d = diffSettings(before, after);
+    auto has = [&](const std::string& frag) {
+        return std::any_of(d.begin(), d.end(), [&](const std::string& l) {
+            return l.find(frag) != std::string::npos;
+        });
+    };
+    CHECK(has("AcquisitionFrameRate  10 -> 8"));
+    CHECK(has("+ Gamma"));
+    CHECK(has("- Sharpness"));
+    CHECK(has("BalanceRatio [BalanceRatioSelector=Red]  2.87 -> 3.10"));
+    // An unchanged setting must not be reported, or the diff becomes noise.
+    CHECK_FALSE(has("ExposureAutoMax"));
+    CHECK(d.size() == 4);
+
+    CHECK(diffSettings(before, before).empty());
+}
+
+TEST_CASE("diffSettings handles a name repeated under the SAME selector") {
+    // A real Viewer export nests SelectorGroups, so the same selector name AND
+    // value can appear many times (FileOperationSelector=Open, once per
+    // FileSelector group). Keying only on selector+name collapsed them and
+    // reported every duplicate after the first as new.
+    std::vector<SettingEntry> v = {
+        {"FileOperationStatus", "Success", "FileOperationSelector=Open"},
+        {"FileOperationStatus", "Success", "FileOperationSelector=Open"},
+        {"FileOperationStatus", "Success", "FileOperationSelector=Open"},
+    };
+    CHECK(diffSettings(v, v).empty());
+
+    // ...and a genuine change to one of them is still reported, exactly once.
+    auto changed = v;
+    changed[1].value = "Failure";
+    auto d = diffSettings(v, changed);
+    REQUIRE(d.size() == 1);
+    CHECK(d[0].find("Success -> Failure") != std::string::npos);
+}
+
+TEST_CASE("an unchanged real export produces an empty diff") {
+    for (const char* rel : {"../../camera_config_test.xml", "../camera_config_test.xml"}) {
+        if (!fs::is_regular_file(rel)) continue;
+        CameraSettings s = parseCameraSettingsXml(rel);
+        // The strongest possible statement: 800+ real settings, nothing changed,
+        // nothing reported. This is what caught the duplicate-key bug.
+        CHECK(diffSettings(s.entries, s.entries).empty());
+        return;
+    }
+    MESSAGE("camera_config_test.xml not reachable from the test working directory; skipped");
+}
+
+TEST_CASE("the real VimbaX export parses") {
+    // Guards against the scanner drifting from what the Viewer actually writes.
+    for (const char* rel : {"../../camera_config_test.xml", "../camera_config_test.xml"}) {
+        if (!fs::is_regular_file(rel)) continue;
+        CameraSettings s = parseCameraSettingsXml(rel);
+        CHECK(s.model == "1800 U-2040c");
+        CHECK(s.entries.size() > 100);
+        // RemoteDevice only: a LocalDevice-only feature must not have leaked in.
+        CHECK(find(s, "DeviceLocation", "") == nullptr);
+        return;
+    }
+    MESSAGE("camera_config_test.xml not reachable from the test working directory; skipped");
+}

tests/test_config.cpp

@@ -19,8 +19,6 @@ TEST_CASE("ConfigLoader maps and defaults typed values") {
         {"General.debug", "1"},
         {"Network.zkms_server_ip", "10.0.0.5"},
         {"Network.mqtt_user", "fileuser"},
-        {"Camera.id_Cam1", "DEV_1"},
-        {"Camera.id_Cam3", "DEV_3"},
         {"Features.enable_mqtt", "false"},
     };
     AppConfig c = ConfigLoader::fromMap(kv);
@@ -30,8 +28,6 @@ TEST_CASE("ConfigLoader maps and defaults typed values") {
     CHECK(c.general.debug == true);
     CHECK(c.network.broker_ip == "10.0.0.5");
     CHECK(c.network.mqtt_user == "fileuser");
-    CHECK(c.camera.ids.size() == 2);          // blank id_Cam2 skipped
-    CHECK(c.camera.ids[1] == "DEV_3");
     CHECK(c.features.enable_mqtt == false);
     CHECK(!c.paths.output_dir.empty());        // defaulted
     CHECK(std::abs(c.image_rate() - 1.0 / 3.0) < 1e-9);
@@ -130,37 +126,104 @@ TEST_CASE("Network.mqtt_port is range-checked") {
     CHECK_THROWS(ConfigLoader::fromMap({{"Network.mqtt_port", "1883x"}}));
 }
 
-TEST_CASE("Camera mode selection + encoding config: defaults and overrides") {
+TEST_CASE("Cameras are declared explicitly, one block per camera") {
-    AppConfig d = ConfigLoader::fromMap({});
+    // Identity is no longer positional: the block names the camera and `label`
-    CHECK(d.camera.mode == "standard");
+    // names its output, so nothing is implied by the order of the keys.
-    CHECK(d.camera.mode_dir.find("config/camera_modes/rgb") != std::string::npos);
-    CHECK(d.camera.jxl_distance == doctest::Approx(0.8));
-    CHECK(d.camera.jxl_effort == 4);
-    CHECK(d.camera.rotation_deg == 0);
-
     AppConfig c = ConfigLoader::fromMap({
-        {"Camera.mode_dir", "/tmp/modes"},
+        {"Camera.jxl_distance", "0.8"},
-        {"Camera.mode", "night"},
+        {"Camera.rgb.id", "DEV_1"},
-        {"Camera.jxl_distance", "0"},
+        {"Camera.rgb.label", "RGB"},
-        {"Camera.jxl_effort", "6"},
+        {"Camera.rgb.profile_dir", "/tmp/profiles/rgb"},
-        {"Camera.rotation_deg", "180"},
+        {"Camera.rgb.profile", "night"},
+        {"Camera.rgb.rotation_deg", "180"},
+        {"Camera.rgb.jxl_effort", "6"},
+        {"Camera.nir.id", "DEV_2"},
+        {"Camera.nir.profile_dir", "/tmp/profiles/nir"},
     });
-    CHECK(c.camera.mode_dir == "/tmp/modes");
+
-    CHECK(c.camera.mode == "night");
+    REQUIRE(c.camera.cameras.size() == 2);
-    CHECK(c.camera.jxl_distance == doctest::Approx(0.0));  // lossless
+    const CameraSpec* rgb = nullptr;
-    CHECK(c.camera.jxl_effort == 6);
+    const CameraSpec* nir = nullptr;
-    CHECK(c.camera.rotation_deg == 180);
+    for (const auto& s : c.camera.cameras) {
+        if (s.name == "rgb") rgb = &s;
+        if (s.name == "nir") nir = &s;
+    }
+    REQUIRE(rgb);
+    REQUIRE(nir);
+
+    CHECK(rgb->id == "DEV_1");
+    CHECK(rgb->label == "RGB");
+    CHECK(rgb->profile == "night");
+    CHECK(rgb->rotation_deg == 180);
+    CHECK(rgb->driver == "vimba");
+    CHECK(rgb->enabled);
+
+    // Per-camera override wins; anything not overridden falls back to [Camera].
+    CHECK(rgb->jxl_effort == 6);
+    CHECK(rgb->jxl_distance == doctest::Approx(0.8));
+
+    // label defaults to the block name rather than to a position in a list.
+    CHECK(nir->label == "nir");
+    CHECK(nir->profile == "standard");
 }
 
-TEST_CASE("Camera config validates ranges") {
+TEST_CASE("Per-profile timing is per camera, and the scheduler takes the longest") {
-    // mode_dir / mode are not validated here: a blank value falls back to the
+    AppConfig c = ConfigLoader::fromMap({
-    // default, and whether the mode file actually exists is checked at load time
+        {"Camera.rgb.id", "DEV_1"},
-    // (loadCameraModes), which can say what IS available.
+        {"Camera.rgb.profile_dir", "/tmp/p"},
-    CHECK_THROWS(ConfigLoader::fromMap({{"Camera.jxl_distance", "-1"}}));
+        {"Camera.rgb.profile", "standard"},
-    CHECK_THROWS(ConfigLoader::fromMap({{"Camera.jxl_effort", "0"}}));   // effort 1..9
+        {"Camera.rgb.standard.settle_wait_ms", "1000"},
-    CHECK_THROWS(ConfigLoader::fromMap({{"Camera.jxl_effort", "10"}}));
+        {"Camera.rgb.standard.frame_timeout_ms", "2000"},
-    CHECK_THROWS(ConfigLoader::fromMap({{"Camera.rotation_deg", "45"}}));   // 0/90/180/270 only
+        {"Camera.nir.id", "DEV_2"},
-    CHECK_THROWS(ConfigLoader::fromMap({{"Camera.rotation_deg", "-90"}}));
+        {"Camera.nir.profile_dir", "/tmp/p"},
+        {"Camera.nir.profile", "standard"},
+        {"Camera.nir.standard.settle_wait_ms", "2500"},
+        {"Camera.nir.standard.frame_timeout_ms", "5000"},
+    });
+
+    // The gimbal must stand still long enough for EVERY camera, so the longest
+    // wait wins - taking the first camera's would short-change the slower sensor.
+    CHECK(c.camera.maxSettleWaitMs() == 2500);
+    CHECK(c.camera.maxFrameTimeoutMs() == 5000);
+
+    // A profile with no timing block falls back to the defaults.
+    CHECK(c.camera.cameras[0].timingFor("night").settle_wait_ms == 1000);
+}
+
+TEST_CASE("A disabled camera is excluded from the active set and its timing") {
+    AppConfig c = ConfigLoader::fromMap({
+        {"Camera.rgb.id", "DEV_1"},
+        {"Camera.rgb.profile_dir", "/tmp/p"},
+        {"Camera.rgb.standard.settle_wait_ms", "1000"},
+        {"Camera.slow.enabled", "false"},
+        {"Camera.slow.profile_dir", "/tmp/p"},
+        {"Camera.slow.standard.settle_wait_ms", "9000"},
+    });
+    CHECK(c.camera.cameras.size() == 2);
+    CHECK(c.camera.active().size() == 1);
+    CHECK(c.camera.maxSettleWaitMs() == 1000);   // the disabled camera does not slow the scan
+}
+
+TEST_CASE("Camera blocks reject what cannot work") {
+    auto base = [](std::map<std::string, std::string> extra) {
+        std::map<std::string, std::string> kv = {{"Camera.rgb.id", "DEV_1"},
+                                                 {"Camera.rgb.profile_dir", "/tmp/p"}};
+        for (auto& [k, v] : extra) kv[k] = v;
+        return kv;
+    };
+    CHECK_NOTHROW(ConfigLoader::fromMap(base({})));
+
+    // No second backend exists yet; accepting the key silently would be worse.
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.driver", "thermal"}})));
+    // An enabled camera with no id cannot be opened.
+    CHECK_THROWS(ConfigLoader::fromMap({{"Camera.rgb.profile_dir", "/tmp/p"}}));
+    // Nothing to load settings from.
+    CHECK_THROWS(ConfigLoader::fromMap({{"Camera.rgb.id", "DEV_1"}}));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.rotation_deg", "45"}})));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.jxl_distance", "-1"}})));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.jxl_effort", "10"}})));
+    // A typo'd timing key would otherwise be silently ignored.
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.standard.settle_wait", "500"}})));
 }
 
 TEST_CASE("updateIniSectionKeys replaces in-section keys, leaving others intact") {

tests/test_hash.cpp

@@ -0,0 +1,47 @@
+#include <doctest/doctest.h>
+
+#include "fgc/Hash.h"
+
+#include <filesystem>
+#include <fstream>
+#include <string>
+
+#include <unistd.h>
+
+using namespace fgc;
+namespace fs = std::filesystem;
+
+TEST_CASE("fnv1a64 matches the reference vectors") {
+    // The published FNV-1a 64 test vectors: if these drift, a stored digest from
+    // an older build would silently stop matching.
+    CHECK(fnv1a64("") == 0xcbf29ce484222325ULL);
+    CHECK(fnv1a64("a") == 0xaf63dc4c8601ec8cULL);
+    CHECK(fnv1a64("foobar") == 0x85944171f73967e8ULL);
+}
+
+TEST_CASE("fnv1a64 separates inputs that differ by one bit") {
+    CHECK(fnv1a64("standard") != fnv1a64("standarD"));
+    CHECK(fnv1a64("AcquisitionFrameRate = 10") != fnv1a64("AcquisitionFrameRate = 11"));
+    // Order matters: two files with the same bytes rearranged are different files.
+    CHECK(fnv1a64("ab") != fnv1a64("ba"));
+}
+
+TEST_CASE("hashLabel is prefixed and fixed width") {
+    // The prefix exists so a digest can never be misread if the algorithm changes.
+    CHECK(hashLabel(0) == "fnv1a64:0000000000000000");
+    CHECK(hashLabel(0xcbf29ce484222325ULL) == "fnv1a64:cbf29ce484222325");
+    CHECK(hashLabel(fnv1a64("")).size() == 8 + 16);
+}
+
+TEST_CASE("fnv1a64File hashes contents and throws on a missing file") {
+    const fs::path p = fs::temp_directory_path() /
+                       ("fgc_hash_" + std::to_string(::getpid()) + ".bin");
+    { std::ofstream f(p, std::ios::binary); f << "foobar"; }
+
+    CHECK(fnv1a64File(p.string()) == fnv1a64("foobar"));
+
+    // A missing file must NOT read as an unchanged one - the caller uses this to
+    // decide whether to regenerate.
+    fs::remove(p);
+    CHECK_THROWS(fnv1a64File(p.string()));
+}

tests/test_telemetry.cpp

@@ -49,3 +49,36 @@ TEST_CASE("parseTelemetryLine tolerates trailing CR") {
     REQUIRE(t.has_value());
     CHECK(t->yaw.standstill == true);
 }
+
+TEST_CASE("parseAxisSegment reads the encoder-deviation flag 'd'") {
+    // 'd' is the TMC's hardware encoder-deviation latch and the only stall signal
+    // that can actually assert on this rig; 's' (StallGuard) is inert in
+    // StealthChop. They are separate fields so enabling StallGuard later stays
+    // meaningful.
+    auto a = parseAxisSegment("A,982,969,80084000,0,8,8,Sd");
+    REQUIRE(a.has_value());
+    CHECK(a->deviation == true);
+    CHECK(a->standstill == true);
+    CHECK(a->stall == false);   // 'd' must not be mistaken for StallGuard
+
+    // Flag order carries no meaning, and unrelated flags must not be disturbed.
+    auto b = parseAxisSegment("A,982,969,80084000,0,8,8,dSL");
+    REQUIRE(b.has_value());
+    CHECK(b->deviation == true);
+    CHECK(b->standstill == true);
+    CHECK(b->endstop_l == true);
+
+    // Absent unless present, including when the flags field is missing entirely.
+    auto c = parseAxisSegment("A,982,969,80084000,0,8,8,S");
+    REQUIRE(c.has_value());
+    CHECK(c->deviation == false);
+    auto d = parseAxisSegment("A,982,969,80084000,0,8,8");
+    REQUIRE(d.has_value());
+    CHECK(d->deviation == false);
+
+    // Both can be set at once; they are independent signals.
+    auto e = parseAxisSegment("A,982,969,80084000,0,8,8,sd");
+    REQUIRE(e.has_value());
+    CHECK(e->stall == true);
+    CHECK(e->deviation == true);
+}

tests/test_uisnapshot.cpp

@@ -14,9 +14,11 @@ TEST_CASE("axisStateLabel maps every state") {
     CHECK(std::string(axisStateLabel(AxisState::Unknown)) == "----");
 }
 
-TEST_CASE("axisStateColor signals health") {
+TEST_CASE("axisStateColor uses one hue, reserving red for a fault") {
-    CHECK(axisStateColor(AxisState::Ready) == UiColor::Green);
+    // Healthy states share the panel accent so nothing but a fault changes
-    CHECK(axisStateColor(AxisState::Homing) == UiColor::Yellow);
+    // colour; Boot/Reset stay dim, which is brightness rather than a second hue.
+    CHECK(axisStateColor(AxisState::Ready) == UiColor::Cyan);
+    CHECK(axisStateColor(AxisState::Homing) == UiColor::Cyan);
     CHECK(axisStateColor(AxisState::Error) == UiColor::Red);
     CHECK(axisStateColor(AxisState::Boot) == UiColor::Dim);
     CHECK(axisStateColor(AxisState::Reset) == UiColor::Dim);