orb-mcu-util: don't fail on building boards object (#136)

* orb-mcu-util: don't fail on building boards object heartbeat is sent to check that mcu is alive but if it's not, don't fail because the command might be targeted to the other MCU * orb-mcu-util: error trace prettify * address comments --------- Co-authored-by: Ryan Butler <thebutlah@gmail.com>
worldcoin · Jun 17, 2024 · 7b31302 · 7b31302
1 parent 3d369d9
commit 7b31302
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Showing 2 changed files with 27 additions and 7 deletions.
diff --git a/mcu-util/src/orb/main_board.rs b/mcu-util/src/orb/main_board.rs
@@ -66,15 +66,25 @@ impl MainBoardBuilder {
         // Send a heartbeat to the main mcu to ensure it is alive
         // & "subscribe" to the main mcu messages: messages to the Jetson
         // are going to be sent after the heartbeat
-        canfd_iface
+        let ack_result = canfd_iface
             .send(McuPayload::ToMain(
                 main_messaging::jetson_to_mcu::Payload::Heartbeat(
                     main_messaging::Heartbeat {
                         timeout_seconds: 0_u32,
                     },
                 ),
             ))
-            .await?;
+            .await
+            .map(|c| {
+                if let CommonAckError::Success = c {
+                    Ok(())
+                } else {
+                    Err(eyre!("ack error: {c}"))
+                }
+            });
+        if let Err(e) = ack_result {
+            error!("Failed to send heartbeat to main mcu: {:#?}", e);
+        }
 
         Ok((
             MainBoard {

diff --git a/mcu-util/src/orb/security_board.rs b/mcu-util/src/orb/security_board.rs
@@ -61,15 +61,25 @@ impl SecurityBoardBuilder {
         // Send a heartbeat to the mcu to ensure it is alive
         // & "subscribe" to the mcu messages: messages to the Jetson
         // are going to be sent after the heartbeat
-        canfd_iface
+        let ack_result = canfd_iface
             .send(McuPayload::ToSec(
                 security_messaging::jetson_to_sec::Payload::Heartbeat(
                     security_messaging::Heartbeat {
                         timeout_seconds: 0_u32,
                     },
                 ),
             ))
-            .await?;
+            .await
+            .map(|c| {
+                if let CommonAckError::Success = c {
+                    Ok(())
+                } else {
+                    Err(eyre!("ack error: {c}"))
+                }
+            });
+        if let Err(e) = ack_result {
+            error!("Failed to send heartbeat to security mcu: {:#?}", e);
+        }
 
         Ok((
             SecurityBoard {
@@ -369,7 +379,7 @@ impl SecurityBoardInfo {
             .await
         {
             is_err = true;
-            error!("Failed to fetch firmware versions: {:?}", e);
+            error!("Failed to fetch firmware versions: {:#?}", e);
         }
 
         if let Err(e) = sec_board
@@ -385,7 +395,7 @@ impl SecurityBoardInfo {
             .await
         {
             is_err = true;
-            error!("Failed to fetch hardware versions: {:?}", e);
+            error!("Failed to fetch hardware versions: {:#?}", e);
         }
 
         if let Err(e) = sec_board
@@ -401,7 +411,7 @@ impl SecurityBoardInfo {
             .await
         {
             is_err = true;
-            error!("Failed to fetch battery status: {:?}", e);
+            error!("Failed to fetch battery status: {:#?}", e);
         }
 
         match tokio::time::timeout(