172 lines
7.4 KiB
C++
172 lines
7.4 KiB
C++
#include "fgc/HardwarePresence.h"
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#include <algorithm>
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#include <string>
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namespace fgc {
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namespace {
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bool listed(const std::vector<std::string>& v, const std::string& name) {
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return std::find(v.begin(), v.end(), name) != v.end();
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}
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// A sensor slot is declared when it names a model. Empty means the file said
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// nothing; "none" means it said "deliberately not fitted" - and the difference
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// matters, because only the second one makes a found sensor a stale-file warning.
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bool names(const std::string& slot) { return !slot.empty() && slot != "none"; }
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bool stated(const std::string& slot) { return !slot.empty(); }
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void missing(PresenceReport& r, std::string subsystem, std::string detail) {
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r.findings.push_back({PresenceIssue::MissingDeclared, std::move(subsystem), std::move(detail)});
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}
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void undeclared(PresenceReport& r, std::string subsystem, std::string detail) {
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r.findings.push_back({PresenceIssue::UndeclaredFound, std::move(subsystem), std::move(detail)});
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}
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} // namespace
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bool PresenceReport::anyMissing() const {
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return std::any_of(findings.begin(), findings.end(),
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[](const PresenceFinding& f) { return f.issue == PresenceIssue::MissingDeclared; });
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}
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bool PresenceReport::anyUndeclared() const {
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return std::any_of(findings.begin(), findings.end(),
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[](const PresenceFinding& f) { return f.issue == PresenceIssue::UndeclaredFound; });
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}
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std::vector<std::string> PresenceReport::missing() const {
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std::vector<std::string> out;
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for (const auto& f : findings)
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if (f.issue == PresenceIssue::MissingDeclared) out.push_back(f.subsystem);
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return out;
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}
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PresenceReport reconcilePresence(const HardwareConfig& declared, const FoundHardware& found) {
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PresenceReport r;
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// Nothing was read, so there is nothing to contradict. Every un-migrated
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// tower lands here and must behave exactly as it did before.
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if (!declared.declared) return r;
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r.reconciled = true;
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// ---- axes ----
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// An empty axes list states nothing, matching hasAxis()'s "answers true for
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// everything". Reconciling it would turn silence into a fault.
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if (!declared.axes.empty()) {
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if (!found.axes_known) {
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missing(r, "motor telemetry",
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"no telemetry arrived, so the declared axes (" + declared.axesLabel() +
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") could not be confirmed -- check [Serial] device and that the MCU is "
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"flashed and enumerating");
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} else {
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for (const auto& a : declared.axes)
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if (!listed(found.axes, a))
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missing(r, "axis " + a,
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"declared in " + declared.source_path +
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" but absent from telemetry -- the driver is not answering, or "
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"the firmware was built for fewer axes than this rig has");
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for (const auto& a : found.axes)
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if (!listed(declared.axes, a))
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undeclared(r, "axis " + a,
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"present in telemetry but not in [Hardware] axes -- add it, or the "
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"declaration is describing a different rig");
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}
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}
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// ---- IMU ----
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if (names(declared.imu) && !found.imu)
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missing(r, "imu",
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"declared as '" + declared.imu +
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"' but no IMU came up -- check [IMU] device; declaring it here is what "
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"enables it");
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if (stated(declared.imu) && !names(declared.imu) && found.imu)
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undeclared(r, "imu", "running, but [Hardware] imu says none -- the declaration is stale");
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// ---- env sensor ----
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if (names(declared.env) && !found.env)
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missing(r, "env",
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"declared as '" + declared.env +
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"' but no ambient sensor came up -- check [Env] i2c_device, and that it is a "
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"real I2C adapter rather than SMBus-only");
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if (stated(declared.env) && !names(declared.env) && found.env)
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undeclared(r, "env", "running, but [Hardware] env says none -- the declaration is stale");
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// ---- cameras ----
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if (!declared.cameras.empty()) {
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for (const auto& c : declared.cameras)
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if (!listed(found.cameras, c))
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missing(r, "camera " + c,
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"declared in " + declared.source_path +
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" but not found -- check the [Camera." + c +
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"] block is enabled and the device is on the bus");
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for (const auto& c : found.cameras)
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if (!listed(declared.cameras, c))
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undeclared(r, "camera " + c,
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"active but not in [Hardware] cameras -- add it, or the declaration is "
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"describing a different rig");
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// Configured and declared is not the same as present on the bus. The
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// source counts what it opened without saying which, so the shortfall is
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// reported as a number and `test hardware camera` names the device.
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const int want = static_cast<int>(found.cameras.size());
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if (found.cameras_opened >= 0 && found.cameras_opened < want)
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missing(r, "cameras",
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std::to_string(want) + " configured, only " +
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std::to_string(found.cameras_opened) +
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" opened -- one is not on the bus; 'test hardware camera' names which");
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}
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return r;
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}
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PresenceVerdict presenceVerdict(const PresenceReport& report, bool strict, bool degraded) {
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PresenceVerdict v;
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if (report.findings.empty()) return v; // Proceed, nothing to say
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if (!report.anyMissing()) {
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// Only stale-file warnings. Never fatal: the rig has MORE than was
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// declared, which is a documentation fault, not a broken tower.
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v.action = PresenceAction::WarnOnly;
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v.reason = "hardware.ini is out of date with this rig";
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return v;
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}
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std::string gone;
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for (const auto& m : report.missing()) gone += (gone.empty() ? "" : ", ") + m;
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if (!strict) {
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v.action = PresenceAction::WarnOnly;
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v.reason = "declared hardware is missing (" + gone +
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"); continuing because [Features] strict_presence is off -- set it once this "
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"tower's hardware.ini is known good";
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return v;
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}
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if (degraded) {
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// Loudly, per the plan: this is field triage, and it must not become the
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// way a tower is normally run.
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v.action = PresenceAction::WarnOnly;
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v.reason = "RUNNING DEGRADED BY REQUEST: declared hardware is missing (" + gone +
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") and --degraded overrode the refusal -- this tower is not doing the job it "
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"is declared to do";
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return v;
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}
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v.action = PresenceAction::Refuse;
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v.reason = "declared hardware is missing: " + gone +
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" -- fix the rig, correct " +
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"hardware.ini, or pass --degraded to start anyway";
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return v;
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}
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std::vector<std::string> formatPresence(const PresenceReport& report) {
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std::vector<std::string> out;
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for (const auto& f : report.findings)
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if (f.issue == PresenceIssue::MissingDeclared) out.push_back(f.subsystem + ": " + f.detail);
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for (const auto& f : report.findings)
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if (f.issue == PresenceIssue::UndeclaredFound) out.push_back(f.subsystem + ": " + f.detail);
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return out;
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}
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} // namespace fgc
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