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stores: mainVehicle: expose autopilot info on the data-lake #2478

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stores: mainVehicle: expose autopilot info on the data-lake #2478

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49 changes: 49 additions & 0 deletions src/stores/mainVehicle.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ import { MavlinkManualControlManager } from '@/libs/joystick/protocols/mavlink-m
import { canByPassCategory, EventCategory, slideToConfirm } from '@/libs/slide-to-confirm'
import type { ArduPilot } from '@/libs/vehicle/ardupilot/ardupilot'
import { CustomMode } from '@/libs/vehicle/ardupilot/ardurover'
import { getVehicleTypeFromMavType } from '@/libs/vehicle/ardupilot/common'
import { defaultMessageIntervalsOptions } from '@/libs/vehicle/mavlink/defaults'
import type { MAVLinkParameterSetData, MessageIntervalOptions } from '@/libs/vehicle/mavlink/types'
import { MAVLINK_MESSAGE_INTERVALS_STORAGE_KEY } from '@/libs/vehicle/mavlink/vehicle'
Expand Down Expand Up @@ -266,6 +267,33 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
})
}

if (!getDataLakeVariableInfo('cockpit/vehicle/type')) {
createDataLakeVariable({
id: 'cockpit/vehicle/type',
name: 'Vehicle Type',
type: 'string',
description: 'The autopilot type of the vehicle currently being controlled (e.g. "copter", "sub").',
})
}

if (!getDataLakeVariableInfo('cockpit/vehicle/firmware_type')) {
createDataLakeVariable({
id: 'cockpit/vehicle/firmware_type',
name: 'Firmware Type',
type: 'string',
description: 'The autopilot firmware family (e.g. "ArduPilot", "PX4", "Unknown").',
})
}

if (!getDataLakeVariableInfo('cockpit/vehicle/firmware_version')) {
createDataLakeVariable({
id: 'cockpit/vehicle/firmware_version',
name: 'Firmware Version',
type: 'string',
description: 'The autopilot firmware version (major.minor.patch, e.g. "4.5.7").',
})
}

// Update the variables with the new address
setDataLakeVariableData(vehicleAddressVariableId, cleanedAddress)
setDataLakeVariableData(vehicleMavlink2RestHttpEndpointVariableId, defaultMAVLink2RestHttpURI.value)
Expand Down Expand Up @@ -643,14 +671,28 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
}

const heartbeat = pack.message as Message.Heartbeat
const oldFirmwareType = firmwareType.value
firmwareType.value = heartbeat.autopilot.type
const oldVehicleType = vehicleType.value
vehicleType.value = heartbeat.mavtype.type
lastHeartbeat.value = new Date()

if (oldFirmwareType !== firmwareType.value && firmwareType.value !== undefined) {
const firmwareFamilyMap: Partial<Record<MavAutopilot, string>> = {
[MavAutopilot.MAV_AUTOPILOT_ARDUPILOTMEGA]: 'ArduPilot',
[MavAutopilot.MAV_AUTOPILOT_PX4]: 'PX4',
}
setDataLakeVariableData('cockpit/vehicle/firmware_type', firmwareFamilyMap[firmwareType.value] ?? 'Unknown')
}

if (oldVehicleType !== vehicleType.value && vehicleType.value !== undefined) {
console.log('Vehicle type changed to', vehicleType.value)

const friendlyType = getVehicleTypeFromMavType(vehicleType.value)
if (friendlyType) {
setDataLakeVariableData('cockpit/vehicle/type', friendlyType)
}

try {
controllerStore.loadDefaultProtocolMappingForVehicle(vehicleType.value)
console.info(`Loaded default joystick protocol mapping for vehicle type ${vehicleType.value}.`)
Expand All @@ -666,6 +708,13 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
}
}
})
mainVehicle.value.onIncomingMAVLinkMessage.add(MAVLinkType.AUTOPILOT_VERSION, (pack: Package) => {
const version = (pack.message as Message.AutopilotVersion).flight_sw_version
const major = (version >> 24) & 0xff
const minor = (version >> 16) & 0xff
const patch = (version >> 8) & 0xff
setDataLakeVariableData('cockpit/vehicle/firmware_version', `${major}.${minor}.${patch}`)
})
// eslint-disable-next-line @typescript-eslint/no-explicit-any
getAutoPilot(vehicles).onMode.add((vehicleMode: any) => {
mode.value = [...(modes.value?.entries() ?? [])]
Expand Down
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