mcu-util: better errors and printing (#87)

* mcu-util: serial can only be obtained if orb-ui not running make it optional still unused anyway * mcu-util: better errors (and printing) unwrap all errors
worldcoin · May 4, 2024 · 495672e · 495672e
1 parent 056f8f9
commit 495672e
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Showing 3 changed files with 19 additions and 12 deletions.
diff --git a/mcu-util/src/main.rs b/mcu-util/src/main.rs
@@ -199,7 +199,7 @@ async fn main() -> Result<()> {
     }
 
     if let Err(e) = execute(args).await {
-        error!("{}", e);
+        error!("{:#?}", e);
         std::process::exit(-1);
     } else {
         std::process::exit(0);

diff --git a/mcu-util/src/orb/main_board.rs b/mcu-util/src/orb/main_board.rs
@@ -1,5 +1,5 @@
 use async_trait::async_trait;
-use eyre::{eyre, Result};
+use eyre::{eyre, Context, Result};
 use orb_messages::{mcu_main as main_messaging, CommonAckError};
 use std::ops::Sub;
 use std::sync::mpsc;
@@ -47,14 +47,16 @@ impl MainBoardBuilder {
             String::from("can0"),
             Device::Main,
             self.message_queue_tx.clone(),
-        )?;
+        )
+        .wrap_err("Failed to create CanRawMessaging for MainBoard")?;
 
         let isotp_iface = CanIsoTpMessaging::new(
             String::from("can0"),
             IsoTpNodeIdentifier::JetsonApp7,
             IsoTpNodeIdentifier::MainMcu,
             self.message_queue_tx.clone(),
-        )?;
+        )
+        .wrap_err("Failed to create CanIsoTpMessaging for MainBoard")?;
 
         let serial_iface = SerialMessaging::new(Device::Main).ok();
 
@@ -326,8 +328,9 @@ impl MainBoardInfo {
 
     /// Fetches `MainBoardInfo` from the main board
     /// on timeout, returns the info that was fetched so far
-    async fn build(mut self, main: &mut MainBoard) -> Result<Self> {
-        main.isotp_iface
+    async fn build(mut self, main_board: &mut MainBoard) -> Result<Self> {
+        main_board
+            .isotp_iface
             .send(McuPayload::ToMain(
                 main_messaging::jetson_to_mcu::Payload::ValueGet(
                     main_messaging::ValueGet {
@@ -337,7 +340,8 @@ impl MainBoardInfo {
                 ),
             ))
             .await?;
-        main.isotp_iface
+        main_board
+            .isotp_iface
             .send(McuPayload::ToMain(
                 main_messaging::jetson_to_mcu::Payload::ValueGet(
                     main_messaging::ValueGet {
@@ -347,7 +351,8 @@ impl MainBoardInfo {
                 ),
             ))
             .await?;
-        main.isotp_iface
+        main_board
+            .isotp_iface
             .send(McuPayload::ToMain(
                 main_messaging::jetson_to_mcu::Payload::ValueGet(
                     main_messaging::ValueGet {
@@ -365,7 +370,7 @@ impl MainBoardInfo {
         };
         loop {
             if let Ok(McuPayload::FromMain(main_mcu_payload)) =
-                main.message_queue_rx.recv_timeout(timeout)
+                main_board.message_queue_rx.recv_timeout(timeout)
             {
                 match main_mcu_payload {
                     main_messaging::mcu_to_jetson::Payload::Versions(v) => {

diff --git a/mcu-util/src/orb/security_board.rs b/mcu-util/src/orb/security_board.rs
@@ -1,5 +1,5 @@
 use async_trait::async_trait;
-use eyre::{eyre, Result};
+use eyre::{eyre, Context, Result};
 use orb_messages::mcu_sec::battery_status::BatteryState;
 use orb_messages::{mcu_sec as security_messaging, CommonAckError};
 use std::ops::Sub;
@@ -43,14 +43,16 @@ impl SecurityBoardBuilder {
             String::from("can0"),
             Device::Security,
             self.message_queue_tx.clone(),
-        )?;
+        )
+        .wrap_err("Failed to create CanRawMessaging for SecurityBoard")?;
 
         let isotp_iface = CanIsoTpMessaging::new(
             String::from("can0"),
             IsoTpNodeIdentifier::JetsonApp7,
             IsoTpNodeIdentifier::SecurityMcu,
             self.message_queue_tx.clone(),
-        )?;
+        )
+        .wrap_err("Failed to create CanIsoTpMessaging for SecurityBoard")?;
 
         // Send a heartbeat to the mcu to ensure it is alive
         // & "subscribe" to the mcu messages: messages to the Jetson