RSDK-12103: Add failing modules to error for failed API Model

module/modmanager/manager.go

@@ -64,6 +64,7 @@ func NewManager(
 		packagesDir:             options.PackagesDir,
 		ftdc:                    options.FTDC,
 		modPeerConnTracker:      options.ModPeerConnTracker,
+		failedModules:           make(map[string]bool),
 	}
 	return ret, nil
 }
@@ -150,6 +151,9 @@ type Manager struct {
 	// modPeerConnTracker must be updated as modules create/destroy any underlying WebRTC
 	// PeerConnections.
 	modPeerConnTracker *rdkgrpc.ModPeerConnTracker
+
+	failedModules   map[string]bool
+	muFailedModules sync.RWMutex
 }
 
 // Close terminates module connections and processes.
@@ -269,8 +273,15 @@ func (mgr *Manager) Add(ctx context.Context, confs ...config.Module) error {
 			err := mgr.add(ctx, conf, moduleLogger)
 			if err != nil {
 				moduleLogger.CErrorw(ctx, "Error adding module", "module", conf.Name, "error", err)
+				mgr.muFailedModules.Lock()
+				mgr.failedModules[conf.Name] = true
+				mgr.muFailedModules.Unlock()
 				errs[i] = err
 				return
+			} else {
+				mgr.muFailedModules.Lock()
+				delete(mgr.failedModules, conf.Name)
+				mgr.muFailedModules.Unlock()
 			}
 		}(i, conf)
 	}
@@ -1113,3 +1124,30 @@ func getModuleDataParentDirectory(options modmanageroptions.Options) string {
 	}
 	return filepath.Join(options.ViamHomeDir, parentModuleDataFolderName, robotID)
 }
+
+func (mgr *Manager) GetFailedModules() []string {
+	mgr.muFailedModules.RLock()
+	defer mgr.muFailedModules.RUnlock()
+	var failedModuleNames []string
+      for moduleName := range mgr.failedModules {
+          failedModuleNames = append(failedModuleNames, moduleName)
+      }
+      return failedModuleNames
+}
+
+//remove failed modules not present in new config
+func (mgr *Manager) UpdateFailedModules(newConfigModules []config.Module) {
+	mgr.muFailedModules.Lock()
+	defer mgr.muFailedModules.Unlock()
+
+	configModuleNames := make(map[string]bool)
+	for _, module := range newConfigModules {
+		configModuleNames[module.Name] = true
+	}
+
+	for moduleName := range mgr.failedModules {
+		if !configModuleNames[moduleName] {
+			delete(mgr.failedModules, moduleName)
+		}
+	}
+}

robot/impl/local_robot.go

@@ -6,6 +6,7 @@ package robotimpl
 
 import (
 	"context"
+	"fmt"
 	"slices"
 	"sync"
 	"sync/atomic"
@@ -800,7 +801,12 @@ func (r *localRobot) newResource(
 	resName := conf.ResourceName()
 	resInfo, ok := resource.LookupRegistration(resName.API, conf.Model)
 	if !ok {
-		return nil, errors.Errorf("unknown resource type: API %v with model %v not registered", resName.API, conf.Model)
+		failedModules := r.manager.moduleManager.GetFailedModules()
+		var modules string
+		if len(failedModules) > 0 {
+			modules = fmt.Sprintf("May be in failing module: %v; ", failedModules)
+		}
+		return nil, errors.Errorf("unknown resource type: API %v with model %v not registered; %sThere may be no module in config that provides this model", resName.API, conf.Model, modules)
 	}
 
 	deps, err := r.getDependencies(resName, gNode)
@@ -1498,6 +1504,9 @@ func (r *localRobot) reconfigure(ctx context.Context, newConfig *config.Config,
 		}
 	}()
 
+	//We update the failing modules tracker to remove any modules that are no longer in the config.
+	r.manager.moduleManager.UpdateFailedModules(newConfig.Modules)
+
 	if diff.ResourcesEqual {
 		return
 	}

robot/impl/resource_manager.go

@@ -63,6 +63,8 @@ type moduleManager interface {
 	RemoveResource(ctx context.Context, name resource.Name) error
 	ResolveImplicitDependenciesInConfig(ctx context.Context, conf *config.Diff) error
 	ValidateConfig(ctx context.Context, conf resource.Config) ([]string, []string, error)
+	GetFailedModules() []string
+	UpdateFailedModules(newConfigModules []config.Module)
 }
 
 // resourceManager manages the actual parts that make up a robot.