MQTT messages working
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@ -18,6 +18,10 @@ debug = 0
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[Network]
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; MQTT broker address (the ground-station / ZKMS server).
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zkms_server_ip = 127.0.0.1
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; Broker port. 1883 is the MQTT default (RabbitMQ's MQTT plugin included); 8883 for
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; TLS. Ignored if zkms_server_ip already carries a port ("host:1884") or is a full
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; URI ("tcp://host:1884") - in both cases that value wins.
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mqtt_port = 1883
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; Prefer the FGC_MQTT_USER / FGC_MQTT_PW environment variables over these.
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mqtt_user = CHANGE_ME
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mqtt_pw = CHANGE_ME
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@ -29,7 +29,8 @@ Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config
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| `General` | `tower_name` | string | `Unnamed` | Tower identity; used in all MQTT topics/payloads |
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| `General` | `image_interval` | int > 0 | `5` | Seconds between captures (→ `image_rate = 1/interval`) |
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| `General` | `debug` | bool | `false` | Start with debug-level logging |
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| `Network` | `zkms_server_ip` | string | `127.0.0.1` | MQTT broker address |
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| `Network` | `zkms_server_ip` | string | `127.0.0.1` | MQTT broker host/IP, or a full `tcp://…` URI |
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| `Network` | `mqtt_port` | int 1..65535 | `1883` | Broker port (`8883` for TLS). Ignored when `zkms_server_ip` carries its own port or a scheme |
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| `Network` | `mqtt_user` / `mqtt_pw` | string | — | MQTT credentials (see secrets below) |
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| `Serial` | `device` | string | `/dev/ttyACM0` | Motor-controller serial device |
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| `Serial` | `baud` | int | `115200` | Serial baud rate |
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@ -15,7 +15,11 @@ are **retained**.
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## Connection
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- Broker URI = `Network.zkms_server_ip` from `config.ini`; client ID = the tower name.
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- Broker URI is assembled from `Network.zkms_server_ip` + `Network.mqtt_port` as `tcp://<host>:<port>`
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(`NetworkConfig::brokerUri`), and logged on every connect and connect failure. Two escape hatches, so
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existing configs keep working: a `zkms_server_ip` containing `://` is passed through verbatim, and one
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already of the form `host:port` keeps that port. In both cases `mqtt_port` is ignored. Client ID = the
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tower name.
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- Auth: `mqtt_user` / `mqtt_pw` (preferring `$FGC_MQTT_USER`/`$FGC_MQTT_PW`); `clean_session = true`,
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keep-alive 20 s, `set_automatic_reconnect(true)`.
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- Connect timeout 5 s. On connection loss Paho auto-reconnects; the channel re-subscribes on reconnect.
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@ -19,9 +19,22 @@ struct GeneralConfig {
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};
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struct NetworkConfig {
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std::string broker_ip = "127.0.0.1"; // MQTT broker / ZKMS server
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std::string broker_ip = "127.0.0.1"; // MQTT broker host/IP, or a full tcp://... URI
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int mqtt_port = 1883; // ignored when broker_ip carries its own port
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std::string mqtt_user; // see secrets note below
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std::string mqtt_pw;
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// Paho serverURI for broker_ip + mqtt_port, e.g. "tcp://10.0.0.5:1883".
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//
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// Built here rather than handing Paho a bare address and relying on its
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// default port, so the port is explicit, configurable and visible in the log.
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// Two precedence rules, both to keep existing configs working:
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// - broker_ip containing "://" is a URI the operator owns: returned verbatim,
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// mqtt_port ignored (it may already have a port, or a ws:// path to break).
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// - broker_ip already carrying "host:port" keeps that port; mqtt_port ignored.
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// A bare IPv6 address is bracketed, or Paho's rightmost-colon parse would read
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// the last hextet as the port.
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std::string brokerUri() const;
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};
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struct SerialConfig {
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@ -22,7 +22,9 @@ class MqttControlChannel : public IControlChannel,
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public virtual mqtt::callback,
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public virtual mqtt::iaction_listener {
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public:
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MqttControlChannel(const std::string& broker_ip, const std::string& tower,
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// broker_uri: a full Paho serverURI, e.g. "tcp://10.0.0.5:1883"
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// (see NetworkConfig::brokerUri).
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MqttControlChannel(const std::string& broker_uri, const std::string& tower,
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const std::string& user, const std::string& password);
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~MqttControlChannel() override;
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@ -46,6 +48,7 @@ private:
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void publish(const std::string& topic, const std::string& payload);
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std::string broker_uri_;
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std::string tower_;
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std::string topic_target_hdg_;
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std::string topic_control_code_;
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@ -244,7 +244,7 @@ struct Application::Impl {
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bool want = opts.use_mqtt.value_or(cfg.features.enable_mqtt);
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#if FGC_WITH_MQTT
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if (want) {
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return std::make_unique<MqttControlChannel>(cfg.network.broker_ip,
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return std::make_unique<MqttControlChannel>(cfg.network.brokerUri(),
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cfg.general.tower_name,
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cfg.network.mqtt_user,
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cfg.network.mqtt_pw);
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@ -572,7 +572,7 @@ struct Application::Impl {
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// --- Connectivity ---
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s.conn.mqtt_enabled = opts.use_mqtt.value_or(cfg.features.enable_mqtt);
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s.conn.mqtt_connected = channel && channel->connected();
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s.conn.broker = cfg.network.broker_ip;
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s.conn.broker = cfg.network.brokerUri();
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s.conn.tower = cfg.general.tower_name;
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s.conn.control_code = scheduler ? scheduler->controlCode() : 0;
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s.conn.target_heading = scheduler ? scheduler->targetHeading() : "0";
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@ -1,6 +1,7 @@
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#include "fgc/Config.h"
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#include "fgc/Paths.h"
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#include <algorithm>
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#include <cctype>
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#include <cstdio>
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#include <cstdlib>
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@ -27,7 +28,13 @@ int getInt(const std::map<std::string, std::string>& kv, const std::string& key,
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auto it = kv.find(key);
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if (it == kv.end() || it->second.empty()) return fallback;
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try {
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return std::stoi(it->second);
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// Reject trailing characters: bare std::stoi stops at the first non-digit,
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// so "1883x" would quietly become 1883 and a typo'd value would configure
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// something the operator never wrote. Same reasoning as getIntAutoBase below.
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size_t consumed = 0;
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int out = std::stoi(it->second, &consumed);
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if (consumed != it->second.size()) throw std::invalid_argument("trailing characters");
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return out;
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} catch (const std::exception&) {
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throw std::runtime_error("Config key '" + key + "' must be an integer, got '" +
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it->second + "'");
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@ -101,6 +108,29 @@ int iniHandler(void* user, const char* section, const char* name, const char* va
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} // namespace
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std::string NetworkConfig::brokerUri() const {
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// A scheme means the operator wrote the whole URI: hands off. Appending a port
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// could corrupt one that already has it, or a ws:// path.
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if (broker_ip.find("://") != std::string::npos) return broker_ip;
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std::string host = broker_ip;
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bool has_port = false;
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if (!host.empty() && host.front() == '[') { // bracketed IPv6
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const size_t close = host.rfind(']');
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has_port = close != std::string::npos && host.find(':', close) != std::string::npos;
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} else {
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const size_t colons = static_cast<size_t>(std::count(host.begin(), host.end(), ':'));
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if (colons == 1) {
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has_port = true;
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} else if (colons > 1) {
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host = "[" + host + "]"; // bare IPv6; bracket it so the port is unambiguous
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}
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}
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if (has_port) return "tcp://" + host;
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return "tcp://" + host + ":" + std::to_string(mqtt_port);
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}
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double AppConfig::image_rate() const {
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return general.image_interval > 0 ? 1.0 / general.image_interval : 0.0;
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}
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@ -152,6 +182,9 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
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cfg.general.debug = getBool(kv, "General.debug", cfg.general.debug);
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cfg.network.broker_ip = get(kv, "Network.zkms_server_ip", cfg.network.broker_ip);
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cfg.network.mqtt_port = getInt(kv, "Network.mqtt_port", cfg.network.mqtt_port);
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if (cfg.network.mqtt_port < 1 || cfg.network.mqtt_port > 65535)
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throw std::runtime_error("Network.mqtt_port must be in 1..65535");
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// Secrets: environment variables win over the file.
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cfg.network.mqtt_user = envOr("FGC_MQTT_USER", get(kv, "Network.mqtt_user"));
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cfg.network.mqtt_pw = envOr("FGC_MQTT_PW", get(kv, "Network.mqtt_pw"));
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@ -12,15 +12,16 @@ const auto kConnectTimeout = std::chrono::seconds(5);
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const auto kPublishTimeout = std::chrono::seconds(3);
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} // namespace
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MqttControlChannel::MqttControlChannel(const std::string& broker_ip, const std::string& tower,
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MqttControlChannel::MqttControlChannel(const std::string& broker_uri, const std::string& tower,
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const std::string& user, const std::string& password)
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: tower_(tower),
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: broker_uri_(broker_uri),
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tower_(tower),
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topic_target_hdg_("GGS/FWT/" + tower + "/target_HDG"),
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topic_control_code_("GGS/FWT/" + tower + "/ControlCode"),
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topic_status_("GGS/FWT/" + tower + "/StatusCode"),
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topic_cam_event_("GGS/FWT/" + tower + "/CamEvent"),
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topic_env_("GGS/FWT/" + tower + "/Env"),
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client_(broker_ip, tower) {
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client_(broker_uri, tower) {
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conn_opts_.set_keep_alive_interval(20);
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conn_opts_.set_clean_session(true);
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conn_opts_.set_automatic_reconnect(true); // replaces the old manual reconnect loop
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@ -36,10 +37,11 @@ bool MqttControlChannel::connect() {
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client_.connect(conn_opts_, nullptr, *this)->wait_for(kConnectTimeout);
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connected_ = client_.is_connected();
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} catch (const mqtt::exception& e) {
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LOG_ERROR << "MQTT connect failed: " << e.what();
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LOG_ERROR << "MQTT connect failed (" << broker_uri_ << "): " << e.what();
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connected_ = false;
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}
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if (connected_) LOG_INFO << "MQTT connected to broker as '" << tower_ << "'";
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if (connected_)
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LOG_INFO << "MQTT connected to " << broker_uri_ << " as '" << tower_ << "'";
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return connected_;
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}
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@ -84,6 +84,52 @@ TEST_CASE("ConfigLoader validates input") {
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CHECK_THROWS(ConfigLoader::fromMap({{"General.debug", "maybe"}}));
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}
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TEST_CASE("brokerUri builds a Paho serverURI from host + port") {
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// The port used to be whatever Paho defaulted to when handed a bare address.
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// It is now explicit, so these cases pin the whole resolution table.
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auto uri = [](const std::string& host, int port) {
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NetworkConfig n;
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n.broker_ip = host;
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n.mqtt_port = port;
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return n.brokerUri();
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};
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CHECK(uri("10.11.12.20", 1883) == "tcp://10.11.12.20:1883");
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CHECK(uri("broker.local", 8883) == "tcp://broker.local:8883");
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// A port already in the host wins - existing configs that smuggled one in
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// there must keep working.
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CHECK(uri("10.11.12.20:1884", 1883) == "tcp://10.11.12.20:1884");
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// A scheme means the operator owns the whole string: verbatim, port ignored.
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// Appending to a ws:// path would corrupt it.
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CHECK(uri("tcp://host:1883", 9999) == "tcp://host:1883");
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CHECK(uri("ws://host/mqtt", 9999) == "ws://host/mqtt");
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CHECK(uri("ssl://host:8883", 1883) == "ssl://host:8883");
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// IPv6: bracketed passes through, bare gets bracketed - otherwise Paho's
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// rightmost-colon parse reads the last hextet as the port.
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CHECK(uri("[::1]", 1883) == "tcp://[::1]:1883");
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CHECK(uri("[::1]:1884", 1883) == "tcp://[::1]:1884");
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CHECK(uri("::1", 1883) == "tcp://[::1]:1883");
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CHECK(uri("fe80::1234:5678", 1883) == "tcp://[fe80::1234:5678]:1883");
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// The default config resolves to the MQTT default port.
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CHECK(ConfigLoader::fromMap({}).network.brokerUri() == "tcp://127.0.0.1:1883");
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CHECK(ConfigLoader::fromMap({{"Network.zkms_server_ip", "10.0.0.5"},
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{"Network.mqtt_port", "8883"}})
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.network.brokerUri() == "tcp://10.0.0.5:8883");
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}
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TEST_CASE("Network.mqtt_port is range-checked") {
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CHECK(ConfigLoader::fromMap({}).network.mqtt_port == 1883);
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CHECK(ConfigLoader::fromMap({{"Network.mqtt_port", "8883"}}).network.mqtt_port == 8883);
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CHECK_THROWS(ConfigLoader::fromMap({{"Network.mqtt_port", "0"}}));
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CHECK_THROWS(ConfigLoader::fromMap({{"Network.mqtt_port", "65536"}}));
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CHECK_THROWS(ConfigLoader::fromMap({{"Network.mqtt_port", "-1"}}));
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CHECK_THROWS(ConfigLoader::fromMap({{"Network.mqtt_port", "1883x"}}));
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}
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TEST_CASE("Camera mode selection + encoding config: defaults and overrides") {
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AppConfig d = ConfigLoader::fromMap({});
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CHECK(d.camera.mode == "standard");
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