openvibers/openvibe.link Commits

Node: a plugin's ready after a fault ends the fault (#36)

OP OpenVibers committed 11 Oct 2026 · 55c21cb1cb · 3 files, +26 −1

A plugin that reports `fault` (its robot unreachable, a Bluetooth link down) and later `ready` again (it came back) kept its fault in the Node's status. The commands flowed again, but status (and Bot's panel) kept reporting the stale fault. Sending `ready` now ends the fault. `docs/plugins.md` says so.

Found while answering the Generic LOOI driver's authors, whose driver will report a dropped Bluetooth link as `not_connected` and `ready` when it's back.

Test: `TestReadyAfterFaultClearsIt` (a fault, then ready: no fault, and a command reaches the plugin). `go test ./internal/plugins ./internal/node` passes.

Changes

ddiff --git a/docs/plugins.md b/docs/plugins.md
iindex 04cf0fe..432a6b6 100644
---- a/docs/plugins.md
++++ b/docs/plugins.md
@@@ -63,7 +63,7 @@ describes itself and waits for EOF without opening any hardware.
  |-------------|---------------------------------------------------------------------------------------------|
  | `describe`  | `driver`, `version`, `protocol` (1), `capabilities` {…}, `motion_kinds` [kinds]             |
  | `ready`     | — setup finished, every actuator stopped                                                    |
--| `fault`     | `fault_code`, `message` — the plugin runs but cannot drive (commands get this code as nack) |
++| `fault`     | `fault_code`, `message` — the plugin runs but cannot drive (commands get this code as nack); `ready` again when it can (the robot came back) ends the fault |
  | `ack`       | `id`                                                                                        |
  | `nack`      | `id`, `fault_code`, `message`                                                               |
  | `telemetry` | `battery` {`volts`, `percent`}, `rssi`, `sensors` {…}, `faults` […]                         |
ddiff --git a/internal/plugins/plugin.go b/internal/plugins/plugin.go
iindex d3802f5..802d352 100644
---- a/internal/plugins/plugin.go
++++ b/internal/plugins/plugin.go
@@@ -494,6 +494,10 @@ func (p *Plugin) readStdout(r io.Reader, described chan struct{}) {
  			}
  			p.log.Info("plugin described", "driver", d.Driver, "version", d.Version)
  		case "ready":
++			// Ready again after a fault (the robot came back): the fault is over, so status stops reporting it.
++			p.mu.Lock()
++			p.fault = nil
++			p.mu.Unlock()
  			p.setState(StateReady)
  		case "ack", "nack":
  			id, _ := m["id"].(string)
ddiff --git a/internal/plugins/plugins_test.go b/internal/plugins/plugins_test.go
iindex 49ef506..cf12562 100644
---- a/internal/plugins/plugins_test.go
++++ b/internal/plugins/plugins_test.go
@@@ -62,6 +62,9 @@ func fakePlugin(logPath string, in io.Reader, out io.Writer) {
  				w.Encode(map[string]any{"op": "fault", "fault_code": "firmware_unsupported", "message": "v1 not v2"})
  				continue
  			}
++			if mode == "recover" {
++				w.Encode(map[string]any{"op": "fault", "fault_code": "not_connected", "message": "robot unreachable"})
++			}
  			w.Encode(map[string]any{"op": "ready"})
  			w.Encode(map[string]any{"op": "event", "name": "booted"})
  			if mode == "local_stop" {
@@@ -192,6 +195,24 @@ func TestHelloDescribeCommand(t *testing.T) {
  	}
  }
  
++// A plugin that faults (the robot unreachable) and then reports ready again (it came back) carries no fault: status
++// stops reporting it and commands reach the plugin again.
++func TestReadyAfterFaultClearsIt(t *testing.T) {
++	fx := start(t, "recover")
++	fx.waitState(StateReady)
++	p := fx.m.Get("fake")
++	deadline := time.Now().Add(5 * time.Second)
++	for p.Info().Fault != nil && time.Now().Before(deadline) {
++		time.Sleep(5 * time.Millisecond)
++	}
++	if f := p.Info().Fault; f != nil || p.Info().State != StateReady {
++		t.Fatalf("after ready: state %s, fault %+v", p.Info().State, f)
++	}
++	if r := p.Command(context.Background(), "c1", "drive", json.RawMessage(`{"throttle":0.2}`), 300); !r.OK {
++		t.Fatalf("a command after recovery: %+v", r)
++	}
++}
++
  func TestLocalStopIsForwarded(t *testing.T) {
  	fx := start(t, "local_stop")
  	fx.waitState(StateReady)