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Alex J Lennon
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v1.4.0: Default DEBUG logging, MQTT improvements, and health check integration
- Changed default LogLevel to Debug in appsettings.json for testing - Added process ID to MQTT client ID for uniqueness when multiple instances run - Added DEBUG-level logging for JSON payloads being published - Added DEBUG-level logging for detailed node information when receiving messages - Configured MQTT KeepAlive period (60s) to prevent broker disconnections - Integrated health check metrics (process time, beacon count, nodes processed, MQTT status) - Fixed average error calculation in UWB2GPSConverter (now calculates true mean linear error) - Added detailed logging for worst edge errors to help debug discrepancies
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‎PROJECT_CONTEXT.md‎

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@@ -6,13 +6,21 @@
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**Status**: Active Development
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**Last Updated**: 2025-11-14
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**Version**: 1.3.0
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**Latest Release**: [v1.3.0](https://github.com/DynamicDevices/cga-coordinate-mapping/releases/tag/v1.3.0) (2025-11-14)
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**Version**: 1.4.0
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**Latest Release**: [v1.4.0](https://github.com/DynamicDevices/cga-coordinate-mapping/releases/tag/v1.4.0) (2025-11-14)
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**Repository**: `[email protected]:DynamicDevices/cga-coordinate-mapping.git`
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**License**: GPLv3 (see LICENSE file)
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## Recent Updates (2025-11-14)
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### Debug Logging Default & MQTT Improvements (2025-11-14 - v1.4.0)
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- ✅ **Default DEBUG Logging**: Changed default `LogLevel` in `appsettings.json` from "Information" to "Debug" for testing
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- ✅ **MQTT Client ID Uniqueness**: Added process ID to MQTT client ID to prevent conflicts when multiple instances run on same hardware
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- ✅ **DEBUG JSON Payload Logging**: Added DEBUG-level logging for full JSON payloads being published to MQTT
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- ✅ **DEBUG Node Data Logging**: Added DEBUG-level logging for detailed node information (positionKnown, latLonAlt, edges) when receiving MQTT messages
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- ✅ **MQTT KeepAlive**: Configured MQTT KeepAlive period (60s default) to prevent broker from disconnecting idle clients
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- ✅ **Health Check Integration**: Integrated health check metrics (last process time, beacon count, nodes processed, MQTT connection status)
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### Critical CI Fix (2025-11-14 - v1.3.0)
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- ✅ **FIXED CI**: Removed `Directory.Build.props` that was causing shared obj directory conflicts
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- ✅ **Root Cause Resolved**: Each project now has separate obj/bin directories

‎src/InstDotNet.csproj‎

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@@ -14,10 +14,10 @@
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<Nullable>enable</Nullable>
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<!-- Semantic Versioning -->
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<Version>1.3.0</Version>
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<AssemblyVersion>1.3.0.0</AssemblyVersion>
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<FileVersion>1.3.0.0</FileVersion>
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<VersionPrefix>1.3.0</VersionPrefix>
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<Version>1.4.0</Version>
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<AssemblyVersion>1.4.0.0</AssemblyVersion>
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<FileVersion>1.4.0.0</FileVersion>
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<VersionPrefix>1.4.0</VersionPrefix>
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<VersionSuffix></VersionSuffix>
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<!-- Build metadata -->

‎src/MQTTControl.cs‎

Lines changed: 6 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -60,8 +60,12 @@ public static async Task Initialise(CancellationTokenSource cts, AppConfig? conf
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if (string.IsNullOrWhiteSpace(config.MQTT.ClientId) ||
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config.MQTT.ClientId == DEFAULT_CLIENT_ID)
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{
63-
_clientId = HardwareId.GetMqttClientId("UwbManager");
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_logger?.LogInformation("Using hardware-based MQTT client ID: {ClientId}", _clientId);
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// Add process ID to make client ID unique per instance
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// This prevents conflicts when multiple instances run on the same hardware
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var baseClientId = HardwareId.GetMqttClientId("UwbManager");
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var processId = System.Diagnostics.Process.GetCurrentProcess().Id;
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_clientId = $"{baseClientId}-pid{processId}";
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_logger?.LogInformation("Using hardware-based MQTT client ID: {ClientId} (PID: {ProcessId})", _clientId, processId);
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}
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else
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{

‎src/Program.cs‎

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@@ -32,7 +32,7 @@ static async Task Main()
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// Display version information
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logger.LogInformation("CGA Coordinate Mapping - {Version}", VersionInfo.FullVersion);
35-
logger.LogInformation("Log level: {LogLevel}", logLevel);
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logger.LogInformation("Log level: {LogLevel} (from config: '{ConfigValue}')", logLevel, logLevelString ?? "null");
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logger.LogInformation("Configuration loaded: {BeaconCount} beacons configured", _config.Beacons.Count);
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logger.LogInformation("");
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‎src/UWB2GPSConverter.cs‎

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@@ -359,6 +359,10 @@ public static void ConvertUWBToPositions(Network network, bool refine, Algorithm
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int totalEdges = 0;
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float maxError = 0;
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float minError = float.MaxValue;
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string? maxErrorEdge = null;
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string? minErrorEdge = null;
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float maxMeasuredDist = 0;
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float maxCalculatedDist = 0;
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foreach (UWB node in network.uwbs)
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{
@@ -370,8 +374,19 @@ public static void ConvertUWBToPositions(Network network, bool refine, Algorithm
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float error = Math.Abs(currentDist - edge.distance);
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totalError += error;
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totalEdges++;
373-
if (error > maxError) maxError = error;
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if (error < minError) minError = error;
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378+
if (error > maxError)
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{
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maxError = error;
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maxErrorEdge = $"{node.id}->{end.id}";
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maxMeasuredDist = edge.distance;
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maxCalculatedDist = currentDist;
384+
}
385+
if (error < minError)
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{
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minError = error;
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minErrorEdge = $"{node.id}->{end.id}";
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}
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}
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}
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}
@@ -380,6 +395,24 @@ public static void ConvertUWBToPositions(Network network, bool refine, Algorithm
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_logger?.LogInformation("UWB to GPS conversion completed. Updated {Updated}/{Total} positions. Average error: {Error:F2}m (min: {Min:F2}m, max: {Max:F2}m, edges: {Edges}).",
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totalNodesUpdated, totalNodes, averageError, minError == float.MaxValue ? 0 : minError, maxError, totalEdges);
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399+
// Log details about the worst edge for debugging
400+
if (maxErrorEdge != null && maxError > 10.0f)
401+
{
402+
// Find the actual nodes for the worst edge to log their positions
403+
string[] edgeParts = maxErrorEdge.Split("->");
404+
if (edgeParts.Length == 2 && nodeMap.TryGetValue(edgeParts[0], out UWB? node1) && nodeMap.TryGetValue(edgeParts[1], out UWB? node2))
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{
406+
_logger?.LogWarning("Worst edge error: {Edge} - Measured: {Measured:F2}m, Calculated: {Calculated:F2}m, Error: {Error:F2}m",
407+
maxErrorEdge, maxMeasuredDist, maxCalculatedDist, maxError);
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_logger?.LogWarning(" Node1 ({Id}) position: ({X:F2}, {Y:F2}, {Z:F2}), known: {Known}, latLonAlt: {LatLonAlt}",
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node1.id, node1.position.X, node1.position.Y, node1.position.Z, node1.positionKnown,
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node1.latLonAlt != null && node1.latLonAlt.Length >= 3 ? $"{node1.latLonAlt[0]:F6}, {node1.latLonAlt[1]:F6}, {node1.latLonAlt[2]:F2}" : "null");
411+
_logger?.LogWarning(" Node2 ({Id}) position: ({X:F2}, {Y:F2}, {Z:F2}), known: {Known}, latLonAlt: {LatLonAlt}",
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node2.id, node2.position.X, node2.position.Y, node2.position.Z, node2.positionKnown,
413+
node2.latLonAlt != null && node2.latLonAlt.Length >= 3 ? $"{node2.latLonAlt[0]:F6}, {node2.latLonAlt[1]:F6}, {node2.latLonAlt[2]:F2}" : "null");
414+
}
415+
}
383416
if (totalNodesUpdated + 3 < totalNodes)
384417
{
385418
var untriangulatedNodes = new List<string>();

‎src/UWBManager.cs‎

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@@ -66,6 +66,28 @@ public static void UpdateUwbsFromMessage(string message)
6666
if (network != null && network.uwbs != null)
6767
{
6868
_logger?.LogInformation("Successfully parsed MQTT message into UWB network. Found {Count} UWBs.", network.uwbs.Length);
69+
70+
// Log detailed node information at DEBUG level
71+
foreach (var node in network.uwbs)
72+
{
73+
if (node != null)
74+
{
75+
string latLonAltStr = node.latLonAlt != null && node.latLonAlt.Length >= 3
76+
? $"{node.latLonAlt[0]:F6}, {node.latLonAlt[1]:F6}, {node.latLonAlt[2]:F2}"
77+
: "null";
78+
79+
string edgeInfo = node.edges != null && node.edges.Count > 0
80+
? string.Join(", ", node.edges.Select(e => {
81+
// Determine which end is the other node (not the current node)
82+
string otherEnd = (e.end0 == node.id) ? e.end1 : e.end0;
83+
return $"{otherEnd}:{e.distance:F2}m";
84+
}))
85+
: "no edges";
86+
87+
_logger?.LogDebug(" Node {Id}: positionKnown={Known}, latLonAlt=[{LatLonAlt}], edges=[{Edges}]",
88+
node.id, node.positionKnown, latLonAltStr, edgeInfo);
89+
}
90+
}
6991
}
7092
updateNetworkTrigger = true;
7193
}
@@ -145,6 +167,10 @@ private static void SendNetwork(UWB2GPSConverter.Network sendNetwork)
145167
return;
146168
}
147169
string data = JsonSerializer.Serialize(sendNetwork, jsonOptions);
170+
171+
// Log the JSON payload at DEBUG level
172+
_logger?.LogDebug("Publishing JSON payload to MQTT: {JsonPayload}", data);
173+
148174
_ = Task.Run(async () => await MQTTControl.Publish(data));
149175
}
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}

‎src/VersionInfo.cs‎

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@@ -54,12 +54,12 @@ private static string GetBuildDate()
5454
if (!string.IsNullOrEmpty(location))
5555
{
5656
var fileInfo = new FileInfo(location);
57-
return fileInfo.LastWriteTime.ToString("yyyy-MM-dd HH:mm:ss UTC");
57+
return fileInfo.LastWriteTime.ToString("yyyy-MM-dd HH:mm:ss UTC");
5858
}
5959
}
60-
}
61-
catch
62-
{
60+
}
61+
catch
62+
{
6363
// Ignore - single-file app or other error
6464
}
6565
}

‎src/appsettings.json‎

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@@ -21,7 +21,7 @@
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},
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"Application": {
2323
"UpdateIntervalMs": 10,
24-
"LogLevel": "Information",
24+
"LogLevel": "Debug",
2525
"HealthCheckPort": 8080
2626
},
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"Algorithm": {

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