health: name the device a run of bus read failures stopped at by pierre-rouanet · Pull Request #409 · pollen-robotics/microduck

pierre-rouanet · 2026-10-13T10:30:21Z

udp-pad showed ⚠ motor bus: 1 read failures running and nothing more: the bus dropped a read, but not where. On lavandiere the drop is the IMU board, about once every 10 s.

Now it shows ⚠ motor bus: 1 read failure running, at 200 imu.

duck-control: a failed sync read keeps the device that rustypot names, as IoError::Device { what, id, cause }, with IoError::device() to read it.
robotd: collects the devices named during the current run of failures and clears them with consecutive_errors. A normal tick doesn't touch the list; only a failure and the success that ends a run do.
Protocol: adds BusHealth::failing (API v42), a field older readers can ignore. IMU_DXL_ID moves into the protocol next to JOINT_IDS, so that the IMU board can be called the IMU rather than a bare ID.
Clients: BusHealth::describe_run() produces the line, used by:
- udp-pad's panel and log;
- robotctl monitor;
- robotctl health.
The update gate's unhealthy reason also adds , at ….

Drops since start, by device. An isolated drop shows in consecutive_errors for only one 20 ms tick, and health is sampled once a second, so udp-pad caught about one drop in fifty. BusHealth::drops (plus unnamed_drops for drops that can't be pinned on a device) counts every failed read since robotd started. A total only grows, so a sample a second later still sees it.

udp-pad logs ⚠ motor bus: read dropped at 32 head_yaw (3 since robotd started) each time a total goes up, and shows the totals on its motors row.
robotctl monitor and robotctl health show the totals too.

The device named is where the answer went wrong, not proof the other devices are fine. A cable that breaks at one device silences every device after it, and only the first is named.

Install consequence of v42: none. The field is additive. A new client talking to an older robotd sees no failing and shows the line without devices, as it does today.

rustypot 1.12.0: the first commit moves duck-control from 1.8.0 to 1.12.0, the release with SyncReadError (pollen-robotics/rustypot#153).

🤖 Generated with Claude Code

github-actions · 2026-10-13T10:34:24Z

Coverage

73.76% lines on this branch, against a floor of 70%.

Per-file

Filename                              Regions    Missed Regions     Cover   Functions  Missed Functions  Executed       Lines      Missed Lines     Cover    Branches   Missed Branches     Cover
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btd/src/bluez.rs                          533               533     0.00%          35                35     0.00%         346               346     0.00%           0                 0         -
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updater/src/robot.rs                      288                33    88.54%          41                10    75.61%         189                21    88.89%           0                 0         -
updater/src/source/github.rs              494               188    61.94%          53                28    47.17%         316               108    65.82%           0                 0         -
updater/src/source/hf_hub.rs              136                72    47.06%          20                12    40.00%          81                41    49.38%           0                 0         -
updater/src/source/http.rs                377                89    76.39%          32                10    68.75%         295                91    69.15%           0                 0         -
updater/src/source/local.rs               346                33    90.46%          36                 8    77.78%         192                23    88.02%           0                 0         -
updater/src/source/mod.rs                  39                30    23.08%           4                 2    50.00%          30                24    20.00%           0                 0         -
updater/src/spawn.rs                       94                13    86.17%           5                 0   100.00%          49                 4    91.84%           0                 0         -
updater/src/store.rs                      593                41    93.09%          43                 7    83.72%         271                42    84.50%           0                 0         -
updater/src/transcript.rs                 518                42    91.89%          31                 3    90.32%         290                22    92.41%           0                 0         -
updater/src/unix.rs                        44                 3    93.18%           3                 0   100.00%          22                 2    90.91%           0                 0         -
updater/src/verify.rs                     786                95    87.91%          55                18    67.27%         424                75    82.31%           0                 0         -
uyvy/src/lib.rs                           383                14    96.34%          13                 0   100.00%         184                 8    95.65%           0                 0         -
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
TOTAL                                  106035             27183    74.36%        6883              1715    75.08%       65214             17109    73.76%           0                 0         -

The release that names the device a failed sync read stopped at (SyncReadError), which the previous commit reads. Assisted-by: Claude:claude-opus-5-5

"motor bus: 1 read failures running" said the bus dropped a read and not where. rustypot now names the device a sync read stopped at, so duck-control keeps it (`IoError::Device`), robotd collects the devices of the current run and reports them as `BusHealth::failing` (API v42), and every client says them: udp-pad's panel and log, robotctl monitor, robotctl health, and the update gate's unhealthy reason. The IMU board is a device on the bus like the servos, and the one this was found on, so the description names it: `at 200 imu`. Its ID moves to the protocol beside JOINT_IDS for that. Assisted-by: Claude:claude-opus-5-5

An isolated drop holds `consecutive_errors` for one 20 ms tick, and a client samples health once a second, so udp-pad saw about one drop in fifty. `BusHealth::drops` counts every failed read since robotd started, by the device it stopped at (`unnamed_drops` for the rest). A total only grows, so a report a second later still sees it. udp-pad logs a line for each total that went up, and shows the totals on the motors row; robotctl monitor and health show them too. Assisted-by: Claude:claude-opus-5-5

…-device # Conflicts: # duck-ipc-proto/src/lib.rs

pierre-rouanet force-pushed the bus-failure-names-the-device branch from 1223d5e to 5b38417 Compare October 13, 2026 13:27

pierre-rouanet added 2 commits October 13, 2026 15:27

duck-control: rustypot 1.12.0

e02f713

The release that names the device a failed sync read stopped at (SyncReadError), which the previous commit reads. Assisted-by: Claude:claude-opus-5-5

pierre-rouanet force-pushed the bus-failure-names-the-device branch from 5b38417 to 0d62c1d Compare October 13, 2026 13:27

pierre-rouanet marked this pull request as ready for review October 13, 2026 13:27

pierre-rouanet added 2 commits October 13, 2026 16:08

Merge remote-tracking branch 'origin/main' into bus-failure-names-the…

4e642ea

…-device # Conflicts: # duck-ipc-proto/src/lib.rs

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health: name the device a run of bus read failures stopped at - #409

health: name the device a run of bus read failures stopped at#409
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