ardupilot_manager: use new numeric --serialN ports instead of confusing --uartX

Author: Williangalvani

core/services/ardupilot_manager/autopilot_manager.py

@@ -192,8 +192,10 @@ def get_serials(self) -> List[Serial]:
                 logger.error(e)
         return serials
 
-    def get_serial_cmdline(self) -> str:
-        return " ".join([f"-{entry.port} {entry.endpoint}" for entry in self.get_serials()])
+    def get_serial_cmdline(self, supports_new_serial_mapping: bool) -> str:
+        if supports_new_serial_mapping:
+            return " ".join([f"--serial{entry.port} {entry.endpoint}" for entry in self.get_serials()])
+        return " ".join([f"-{entry.port_as_letter} {entry.endpoint}" for entry in self.get_serials()])
 
     def get_default_params_cmdline(self, platform: Platform) -> str:
         # check if file exists and return it's path as --defaults parameter
@@ -202,6 +204,17 @@ def get_default_params_cmdline(self, platform: Platform) -> str:
             return f"--defaults {default_params_path}"
         return ""
 
+    def check_supports_new_serial_mapping(self, firmware: pathlib.Path) -> bool:
+        """
+        check if the firmware supports --serialN instead of --uartX by checking the output of --help
+        """
+        try:
+            output = subprocess.check_output([firmware, "--help"], encoding="utf-8")
+            return "--serial" in output
+        except Exception as e:
+            logger.warning(f"Failed to check if firmware supports new serial mapping: {e}")
+            return False
+
     async def start_linux_board(self, board: LinuxFlightController) -> None:
         self._current_board = board
         if not self.firmware_manager.is_firmware_installed(self._current_board):
@@ -248,12 +261,20 @@ async def start_linux_board(self, board: LinuxFlightController) -> None:
         #
         # The first column comes from https://ardupilot.org/dev/docs/sitl-serial-mapping.html
 
+        supports_new_serial_mapping = self.check_supports_new_serial_mapping(firmware_path)
+
+        master_endpoint_str = (
+            f" --serial0 udp:{master_endpoint.place}:{master_endpoint.argument}"
+            if supports_new_serial_mapping
+            else f" -A udp:{master_endpoint.place}:{master_endpoint.argument}"
+        )
+
         command_line = (
             f"{firmware_path}"
-            f" -A udp:{master_endpoint.place}:{master_endpoint.argument}"
+            f"{master_endpoint_str}"
             f" --log-directory {self.settings.firmware_folder}/logs/"
             f" --storage-directory {self.settings.firmware_folder}/storage/"
-            f" {self.get_serial_cmdline()}"
+            f" {self.get_serial_cmdline(supports_new_serial_mapping)}"
             f" {self.get_default_params_cmdline(board.platform)}"
         )
 

core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py

@@ -47,10 +47,10 @@ class NavigatorPi5(Navigator):
 
     def get_serials(self) -> List[Serial]:
         return [
-            Serial(port="C", endpoint="/dev/ttyAMA0"),
-            Serial(port="B", endpoint="/dev/ttyAMA2"),
-            Serial(port="E", endpoint="/dev/ttyAMA3"),
-            Serial(port="F", endpoint="/dev/ttyAMA4"),
+            Serial(port=1, endpoint="/dev/ttyAMA0"),
+            Serial(port=3, endpoint="/dev/ttyAMA2"),
+            Serial(port=4, endpoint="/dev/ttyAMA3"),
+            Serial(port=5, endpoint="/dev/ttyAMA4"),
         ]
 
     def detect(self) -> bool:

core/services/ardupilot_manager/typedefs.py

@@ -3,7 +3,7 @@
 from enum import Enum, auto
 from pathlib import Path
 from platform import machine
-from typing import Any, Dict, List, Optional
+from typing import Any, Dict, List, Optional, Union
 
 from pydantic import BaseModel, validator
 
@@ -177,15 +177,22 @@ class Serial(BaseModel):
     --serial5 /dev/ttyAMA3
     """
 
-    port: str
+    port: Union[str, int]
     endpoint: str
 
     @validator("port")
     @classmethod
-    def valid_letter(cls: Any, value: str) -> str:
-        if value in "BCDEFGH" and len(value) == 1:
-            return value
-        raise ValueError(f"Invalid serial port: {value}. These must be between B and H. A is reserved.")
+    def valid_letter(cls: Any, value: Union[str, int]) -> int:
+        letters = ["A", "C", "D", "B", "E", "F", "G", "H", "I", "J"]
+        if isinstance(value, str) and value in letters and len(value) == 1:
+            return letters.index(value)
+        try:
+            port = int(value)
+            if port in range(1, 10):
+                return port
+        except (ValueError, TypeError):
+            pass
+        raise ValueError(f"Invalid serial port: {value}. These must be between B(1) and J(9). A(0) is reserved.")
 
     @validator("endpoint")
     @classmethod
@@ -202,4 +209,9 @@ def valid_endpoint(cls: Any, value: str) -> str:
         raise ValueError(f"Invalid endpoint configuration: {value}")
 
     def __hash__(self) -> int:  # make hashable BaseModel subclass
-        return hash(self.port + self.endpoint)
+        return hash(str(self.port) + self.endpoint)
+
+    @property
+    def port_as_letter(self) -> str:
+        letters = ["A", "C", "D", "B", "E", "F", "G", "H", "I", "J"]
+        return letters[self.port]