code: func (ar *AgentReconciler) Reconcile(a *Agent) {
  	dAgentState, err := desiredAgentState(a, ar.reg)
  	if err != nil {
  		log.Errorf("Unable to determine agent's desired state: %v", err)
  		return
  	}
  
  	cAgentState, err := a.units()
  	if err != nil {
  		log.Errorf("Unable to determine agent's current state: %v", err)
  		return
  	}
  
  	tasks := ar.calculateTasksForUnits(dAgentState, cAgentState)
  	ar.launchTasks(tasks, a)
  }
docs: // Reconcile drives the local Agent's state towards the desired state
  // stored in the Registry.