fwt_software/docs/known-issues.md

Known Issues — Status

This tracks the reproduction blockers and robustness issues identified in the original code and what the refactor did about them.

Resolved

#	Original issue	Resolution
1	Hardcoded config path (/home/ggs/...)	Config search order: --config → $FGC_CONFIG → ./config.ini → exe dir → XDG (src/core/Paths.cpp)
2	Hardcoded image output path	[Paths] output_dir with ~/$ENV expansion + sensible default
3	Startup scripts with ~/projects/...	Replaced by path-independent scripts/run.sh + systemd unit
4	Vimba X required to build	WITH_VIMBA CMake option (default ON); OFF builds a mock-only binary
5	No hardware path; exits if MQTT down	Mock implementations + runtime toggles; MQTT failure now logs and continues
8	Plaintext MQTT credentials	$FGC_MQTT_USER/$FGC_MQTT_PW env override; config.ini gitignored
9	MQTT busy-wait (while(running);)	Gone — Paho async client + set_automatic_reconnect; no spin thread
10	parser() missing return	Old parser removed; parseTelemetryLine returns std::optional cleanly
11	Fragile Boost.Spirit command grammar	Replaced by parseCommand whitespace tokenizer (src/core/CommandParser.cpp)
12	Two divergent config.ini files	Single committed config/config.example.ini; real configs gitignored
6	Telemetry field order: humidity before temperature	Obsolete — migrated to the current firmware's ST protocol (encoder counts, no environmental fields); humidity/temp/fan are gone
7	Trigger fires while is_moving == 1 (not when stopped)	Fixed by the protocol migration — capture is now move → settle → trigger; the camera fires only once both axes report standstill at the target (CaptureScheduler.cpp)

Also added along the way: a leveled logger, typed/validated config, an SDK-independent core library, and a doctest unit-test suite (ctest).

Open / needs hardware confirmation

#	Issue	Status
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 untested on hardware	Homing was verified live (see below), but the MOVE → settle → trigger sweep was not run with --start. kSettleTolCounts (600) and the per-interval timing in CaptureScheduler.cpp still need tuning against observed ST behaviour, alongside #13.

Verification caveats

• Full build verified on the LattePanda: a WITH_VIMBA=ON WITH_MQTT=ON build compiles and links on the device (real Vimba X SDK + Paho fetched). The MQTT wrapper also builds on the dev box (GCC 16 / CMake 4 — see cmake/Paho.cmake for the toolchain-compat shims).
• Serial protocol verified live against real firmware (LattePanda, this session): ENABLE/HOME/SPEED reach the firmware, the ST telemetry parses with zero unparsed lines across a full session, and a live --init drove a clean re-home of both axes to READY. Still unverified on hardware: the capture sweep (#14) and real-camera (Vimba) frame capture — earlier tests used --mock-camera.
• Makefile parity is moot: the Makefile was removed in favour of CMake, and the full WITH_VIMBA=ON WITH_MQTT=ON CMake build now runs on the device.
• Demo mode copies bin/x64/Release/test_smoke.jxl, resolved relative to the working directory. Run from a directory where that path exists, or extend ImagePipeline::Params::demo_image.

Possible follow-ups (not done)

• Graceful shutdown on SIGINT (currently exit via exit/Ctrl-D; a pending getline can delay shutdown).
• Make the camera index→label map and JPEG XL defaults fully config-driven.
• Reintroduce optional image upload to the ground station, config-driven (the old hardcoded NFS/SMB upload was removed).