800 refactor drone checkformessages

.github/workflows/python_tests.yml

@@ -39,5 +39,5 @@ jobs:
 
       - name: Test with pytest
         working-directory: radio
-        timeout-minutes: 25
+        timeout-minutes: 15
         run: pytest --log-cli-level=DEBUG

gcs/src/helpers/socket.js

@@ -3,10 +3,12 @@ import { io } from "socket.io-client"
 
 class SocketConnection {
   socket
+  telemetrySocket
   socketEndpoint = import.meta.env.VITE_BACKEND_URL
 
   constructor() {
     this.socket = io(this.socketEndpoint)
+    this.telemetrySocket = io(this.socketEndpoint + "/telemetry")
   }
 }
 

gcs/src/redux/middleware/emitters.js

@@ -50,6 +50,7 @@ import {
   emitRefreshParams,
   emitSetMultipleParams,
 } from "../slices/paramsSlice"
+import { resetMessages } from "../slices/statusTextSlice"
 
 export function handleEmitters(socket, store, action) {
   if (!socket) return
@@ -73,7 +74,10 @@ export function handleEmitters(socket, store, action) {
     },
     {
       emitter: emitConnectToDrone,
-      callback: () => socket.socket.emit("connect_to_drone", action.payload),
+      callback: () => {
+        socket.socket.emit("connect_to_drone", action.payload)
+        store.dispatch(resetMessages())
+      },
     },
     {
       emitter: emitStartForwarding,

gcs/src/redux/middleware/socketMiddleware.js

@@ -98,7 +98,7 @@ import {
   setShownParams,
   updateParamValue,
 } from "../slices/paramsSlice.js"
-import { pushMessage, resetMessages } from "../slices/statusTextSlice.js"
+import { pushMessage } from "../slices/statusTextSlice.js"
 import { handleEmitters } from "./emitters.js"
 
 const SocketEvents = Object.freeze({
@@ -354,13 +354,109 @@ const socketMiddleware = (store) => {
           store.dispatch(setAutoPilotRebootModalOpen(false))
           store.dispatch(setShouldFetchAllMissionsOnDashboard(true))
           store.dispatch(setShowMotorTestWarningModal(true))
-          store.dispatch(resetMessages())
         })
 
         // Link stats
         socket.socket.on(SocketEvents.linkDebugStats, (msg) => {
           window.ipcRenderer.invoke("app:update-link-stats", msg)
         })
+
+        /*
+          Telemetry Socket Connection Events
+        */
+        socket.telemetrySocket.on("connect", () => {
+          console.log(
+            `Connected to telemetry socket: ${socket.telemetrySocket.id}`,
+          )
+        })
+
+        socket.telemetrySocket.on("disconnect", () => {
+          console.log(
+            `Disconnected from telemetry socket: ${socket.telemetrySocket.id}`,
+          )
+        })
+
+        socket.telemetrySocket.on("connect_error", (error) => {
+          console.error("Telemetry socket connection error:", error)
+        })
+
+        // I don't understand whatsoever why this doesn't work with the standard
+        // on method.
+        socket.telemetrySocket.onAny((eventName, ...args) => {
+          if (eventName !== DroneSpecificSocketEvents.onIncomingMsg) {
+            return
+          }
+
+          const msg = args[0]
+
+          incomingMessageHandler(msg)
+
+          // Data points on dashboard, the below code updates the value in the store when a new message
+          // comes in in the type of specificData.
+          const packetType = msg.mavpackettype
+          const storeState = store.getState()
+          if (storeState !== undefined) {
+            const extraDroneData = storeState.droneInfo.extraDroneData
+            const updatedExtraDroneData = extraDroneData.map((dataItem) => {
+              if (dataItem.currently_selected.startsWith(packetType)) {
+                const specificData = dataItem.currently_selected.split(".")[1]
+                if (Object.prototype.hasOwnProperty.call(msg, specificData)) {
+                  return { ...dataItem, value: msg[specificData] }
+                }
+              }
+              return dataItem
+            })
+
+            store.dispatch(setExtraData(updatedExtraDroneData))
+          }
+
+          // Handle graph messages
+          // Function to get the graph data from a message
+          function getGraphDataFromMessage(msg, targetMessageKey) {
+            const returnDataArray = []
+            for (let graphKey in storeState.droneInfo.graphs.selectedGraphs) {
+              const messageKey =
+                storeState.droneInfo.graphs.selectedGraphs[graphKey]
+              if (messageKey && messageKey.includes(targetMessageKey)) {
+                const [, valueName] = messageKey.split(".")
+
+                // Applying Data Formatters
+                let formatted_value = msg[valueName]
+                if (messageKey in dataFormatters) {
+                  formatted_value = dataFormatters[messageKey](
+                    msg[valueName].toFixed(3),
+                  )
+                }
+
+                returnDataArray.push({
+                  data: { x: Date.now(), y: formatted_value },
+                  graphKey: graphKey,
+                })
+              }
+            }
+            if (returnDataArray.length) {
+              return returnDataArray
+            }
+            return false
+          }
+          store.dispatch(
+            setLastGraphMessage(
+              getGraphDataFromMessage(msg, msg.mavpackettype),
+            ),
+          )
+
+          // Handle Flight Mode incoming data
+          if (
+            msg.mavpackettype === "RC_CHANNELS" &&
+            storeState.config.flightModeChannel !== "UNKNOWN"
+          ) {
+            store.dispatch(
+              setCurrentPwmValue(
+                msg[`chan${storeState.config.flightModeChannel}_raw`],
+              ),
+            )
+          }
+        })
       }
     }
 
@@ -871,79 +967,6 @@ const socketMiddleware = (store) => {
             }
           },
         )
-
-        /*
-          Generic Drone Data
-        */
-        socket.socket.on(DroneSpecificSocketEvents.onIncomingMsg, (msg) => {
-          incomingMessageHandler(msg)
-
-          // Data points on dashboard, the below code updates the value in the store when a new message
-          // comes in in the type of specificData.
-          const packetType = msg.mavpackettype
-          const storeState = store.getState()
-          if (storeState !== undefined) {
-            const extraDroneData = storeState.droneInfo.extraDroneData
-            const updatedExtraDroneData = extraDroneData.map((dataItem) => {
-              if (dataItem.currently_selected.startsWith(packetType)) {
-                const specificData = dataItem.currently_selected.split(".")[1]
-                if (Object.prototype.hasOwnProperty.call(msg, specificData)) {
-                  return { ...dataItem, value: msg[specificData] }
-                }
-              }
-              return dataItem
-            })
-
-            store.dispatch(setExtraData(updatedExtraDroneData))
-          }
-
-          // Handle graph messages
-          // Function to get the graph data from a message
-          function getGraphDataFromMessage(msg, targetMessageKey) {
-            const returnDataArray = []
-            for (let graphKey in storeState.droneInfo.graphs.selectedGraphs) {
-              const messageKey =
-                storeState.droneInfo.graphs.selectedGraphs[graphKey]
-              if (messageKey && messageKey.includes(targetMessageKey)) {
-                const [, valueName] = messageKey.split(".")
-
-                // Applying Data Formatters
-                let formatted_value = msg[valueName]
-                if (messageKey in dataFormatters) {
-                  formatted_value = dataFormatters[messageKey](
-                    msg[valueName].toFixed(3),
-                  )
-                }
-
-                returnDataArray.push({
-                  data: { x: Date.now(), y: formatted_value },
-                  graphKey: graphKey,
-                })
-              }
-            }
-            if (returnDataArray.length) {
-              return returnDataArray
-            }
-            return false
-          }
-          store.dispatch(
-            setLastGraphMessage(
-              getGraphDataFromMessage(msg, msg.mavpackettype),
-            ),
-          )
-
-          // Handle Flight Mode incoming data
-          if (
-            msg.mavpackettype === "RC_CHANNELS" &&
-            storeState.config.flightModeChannel !== "UNKNOWN"
-          ) {
-            store.dispatch(
-              setCurrentPwmValue(
-                msg[`chan${storeState.config.flightModeChannel}_raw`],
-              ),
-            )
-          }
-        })
       } else {
         // Turn off socket events
         Object.values(DroneSpecificSocketEvents).map((event) =>
@@ -958,6 +981,9 @@ const socketMiddleware = (store) => {
         Object.values(ConfigSpecificSocketEvents).map((event) =>
           socket.socket.off(event),
         )
+
+        // Turn off telemetry socket events
+        socket.telemetrySocket.off(DroneSpecificSocketEvents.onIncomingMsg)
       }
     }
 

radio/app/__init__.py

@@ -23,6 +23,7 @@ def create_app(debug: bool = False) -> Flask:
         debug: Boolean value for if the debugging should be True or False
     """
     from app.endpoints import endpoints
+    from app.endpoints.telemetry_namespace import TelemetryNamespace
 
     app = Flask(__name__)
     app.debug = debug
@@ -32,4 +33,8 @@ def create_app(debug: bool = False) -> Flask:
 
     logger.info("Initialising app")
     socketio.init_app(app)
+
+    # Register telemetry namespace
+    socketio.on_namespace(TelemetryNamespace("/telemetry"))
+
     return app

radio/app/controllers/armController.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import time
+from threading import current_thread
 from typing import TYPE_CHECKING
 
 from app.customTypes import Response
@@ -19,6 +20,7 @@ def __init__(self, drone: Drone) -> None:
         Args:
             drone (Drone): The main drone object
         """
+        self.controller_id = f"arm_{current_thread().ident}"
         self.drone = drone
 
     @sendingCommandLock
@@ -35,17 +37,25 @@ def arm(self, force: bool = False) -> Response:
         if self.drone.armed:
             return {"success": False, "message": "Already armed"}
 
-        self.drone.is_listening = False
-
-        self.drone.sendCommand(
-            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-            param1=1,  # 0=disarm, 1=arm
-            param2=2989 if force else 0,  # force arm/disarm
-        )
+        if not self.drone.reserve_message_type("COMMAND_ACK", self.controller_id):
+            return {
+                "success": False,
+                "message": "Could not reserve COMMAND_ACK messages",
+            }
 
         try:
-            response = self.drone.master.recv_match(type="COMMAND_ACK", blocking=True)
-            self.drone.is_listening = True
+            self.drone.sendCommand(
+                mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+                param1=1,  # 0=disarm, 1=arm
+                param2=2989 if force else 0,  # force arm/disarm
+            )
+
+            response = self.drone.wait_for_message(
+                "COMMAND_ACK",
+                self.controller_id,
+                condition_func=lambda msg: msg.command
+                == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+            )
 
             if commandAccepted(response, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM):
                 # Wait for the drone to be armed fully after the command has been accepted
@@ -56,13 +66,18 @@ def arm(self, force: bool = False) -> Response:
                 return {"success": True, "message": "Armed successfully"}
             else:
                 self.drone.logger.debug("Arming failed")
+                return {
+                    "success": False,
+                    "message": "Could not arm, command not accepted",
+                }
+
         except Exception as e:
-            self.drone.is_listening = True
             self.drone.logger.error(e, exc_info=True)
             if self.drone.droneErrorCb:
                 self.drone.droneErrorCb(str(e))
             return {"success": False, "message": "Could not arm, serial exception"}
-        return {"success": False, "message": "Could not arm, command not accepted"}
+        finally:
+            self.drone.release_message_type("COMMAND_ACK", self.controller_id)
 
     @sendingCommandLock
     def disarm(self, force: bool = False) -> Response:
@@ -78,17 +93,25 @@ def disarm(self, force: bool = False) -> Response:
         if not self.drone.armed:
             return {"success": False, "message": "Already disarmed"}
 
-        self.drone.is_listening = False
-
-        self.drone.sendCommand(
-            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-            param1=0,  # 0=disarm, 1=arm
-            param2=2989 if force else 0,  # force arm/disarm
-        )
+        if not self.drone.reserve_message_type("COMMAND_ACK", self.controller_id):
+            return {
+                "success": False,
+                "message": "Could not reserve COMMAND_ACK messages",
+            }
 
         try:
-            response = self.drone.master.recv_match(type="COMMAND_ACK", blocking=True)
-            self.drone.is_listening = True
+            self.drone.sendCommand(
+                mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+                param1=0,  # 0=disarm, 1=arm
+                param2=2989 if force else 0,  # force arm/disarm
+            )
+
+            response = self.drone.wait_for_message(
+                "COMMAND_ACK",
+                self.controller_id,
+                condition_func=lambda msg: msg.command
+                == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+            )
 
             if commandAccepted(response, mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM):
                 # Wait for the drone to be disarmed fully after the command has been accepted
@@ -99,11 +122,15 @@ def disarm(self, force: bool = False) -> Response:
                 return {"success": True, "message": "Disarmed successfully"}
             else:
                 self.drone.logger.debug("Could not disarm, command not accepted")
+                return {
+                    "success": False,
+                    "message": "Could not disarm, command not accepted",
+                }
+
         except Exception as e:
-            self.drone.is_listening = True
             self.drone.logger.error(e, exc_info=True)
             if self.drone.droneErrorCb:
                 self.drone.droneErrorCb(str(e))
             return {"success": False, "message": "Could not disarm, serial exception"}
-
-        return {"success": False, "message": "Could not disarm, command not accepted"}
+        finally:
+            self.drone.release_message_type("COMMAND_ACK", self.controller_id)