Add tlog back, default to while arm

.eslintrc.js

@@ -7,6 +7,7 @@ module.exports = {
   extends: [
     'eslint:recommended',
     'plugin:vue/recommended',
+    'plugin:vue/typescript',
     '@vue/airbnb',
     '@vue/typescript/recommended',
   ],
@@ -26,12 +27,13 @@ module.exports = {
     'func-style': ['error', 'declaration'],
     'import/extensions': 'off',
     'import/order': 'off',
+    'import/no-unresolved': 'error',
     'max-len': ['error', { code: 120 }],
     'no-alert': 'off',
     'no-bitwise': 'off',
     'no-console': 'off',
     'no-continue': 'off',
-    "no-else-return": ["error", { "allowElseIf": false }],
+    'no-else-return': ['error', { allowElseIf: false }],
     'no-extra-parens': ['error', 'all'],
     'no-mixed-operators': 'off',
     // modified https://github.com/airbnb/javascript/blob/master/packages/eslint-config-airbnb-base/rules/style.js#L339
@@ -102,6 +104,9 @@ module.exports = {
       node: {
         extensions: ['.js', '.json', '.jsx', '.ts', '.tsx', '.vue'],
       },
+      vite: {
+        viteConfig: require('./vite.config').viteConfigObj, // named export of the Vite config object.
+      },
     },
   },
 }

core/frontend/package.json

@@ -75,6 +75,7 @@
     "@vue/eslint-config-typescript": "^11.0.2",
     "eslint": "^8.33.0",
     "eslint-import-resolver-typescript": "^3.5.3",
+    "eslint-import-resolver-vite": "^2.1.0",
     "eslint-plugin-html": "^7.1.0",
     "eslint-plugin-import": "^2.27.5",
     "eslint-plugin-simple-import-sort": "^10.0.0",

core/frontend/src/components/autopilot/AutopilotManagerUpdater.ts

@@ -31,7 +31,7 @@ export async function fetchAvailableEndpoints(): Promise<void> {
   try {
     const response = await back_axios({
       method: 'get',
-      url: `${autopilot.API_URL}/endpoints`,
+      url: `${autopilot.API_URL}/endpoints/`,
       timeout: 10000,
     })
     const available_endpoints = response.data

core/frontend/src/types/autopilot/px4/metadata-fetcher.ts

@@ -41,7 +41,11 @@ async function fetchPX4Metadata(): Promise<PX4ParametersMetadata[]> {
   try {
     metadata = await fetchPX4MetadataFromBoard()
   } catch (e) {
-    metadata = (await import('@/PX4-parameters/master/parameters.json')).parameters
+    const response = await fetch('/PX4-parameters/master/parameters.json');
+    if (!response.ok) {
+      throw new Error(`Failed to fetch PX4 metadata: ${response.statusText}`);
+    }
+    metadata = (await response.json()).parameters;
   }
 
   return metadata as PX4ParametersMetadata[]

core/frontend/tsconfig.json

@@ -15,7 +15,6 @@
     "baseUrl": ".",
     "experimentalDecorators": true,
     "types": [
-      "webpack-env",
       "vite/client"
     ],
     "paths": {

core/frontend/vite.config.js

@@ -17,6 +17,14 @@ const assert = require('assert');
 // TODO: check if it works with https once we have something that does
 assert.ok(SERVER_ADDRESS.startsWith('http://'), 'SERVER_ADDRESS must start with http://');
 
+export const viteConfigObj = {
+  resolve: {
+    alias: {
+      _: path.resolve(__dirname, 'src'),
+    },
+  },
+}
+
 export default defineConfig(({ command, mode }) => {
   const env = loadEnv(mode, process.cwd(), '')
   return {

core/services/ardupilot_manager/api/v1/routers/index.py

@@ -18,6 +18,7 @@
 from fastapi_versioning import versioned_api_route
 from loguru import logger
 
+from ardupilot_manager.mavlink_proxy.AbstractRouter import TLogCondition
 from autopilot_manager import AutoPilotManager
 from exceptions import InvalidFirmwareFile, NoDefaultFirmwareAvailable
 from typedefs import (
@@ -255,6 +256,18 @@ def preferred_router() -> Any:
     return autopilot.load_preferred_router()
 
 
+@index_router_v1.post("/tlog_condition", summary="Set the condition for when to write Tlog files.")
+def set_tlog_condition(condition: TLogCondition) -> Any:
+    logger.debug("Setting Tlog condition")
+    autopilot.set_tlog_condition(condition)
+    logger.debug(f"Tlog write condition set to {condition}")
+
+
+@index_router_v1.get("/tlog_condition", summary="Retrieve Tlog file write condition")
+def tlog_condition() -> Any:
+    return autopilot.get_tlog_condition()
+
+
 @index_router_v1.get("/available_routers", summary="Retrieve preferred router")
 @index_to_http_exception
 def available_routers() -> Any:

core/services/ardupilot_manager/autopilot_manager.py

@@ -20,6 +20,7 @@
 from firmware.FirmwareManagement import FirmwareManager
 from flight_controller_detector.Detector import Detector as BoardDetector
 from flight_controller_detector.linux.linux_boards import LinuxFlightController
+from mavlink_proxy.AbstractRouter import TLogCondition
 from mavlink_proxy.Endpoint import Endpoint, EndpointType
 from mavlink_proxy.exceptions import EndpointAlreadyExists
 from mavlink_proxy.Manager import Manager as MavlinkManager
@@ -390,6 +391,12 @@ def load_preferred_router(self) -> Optional[str]:
     def get_available_routers(self) -> List[str]:
         return [router.name() for router in self.mavlink_manager.available_interfaces()]
 
+    def get_tlog_condition(self) -> TLogCondition:
+        return self.mavlink_manager.tlog_condition()
+
+    def set_tlog_condition(self, tlog_condition: TLogCondition) -> None:
+        self.mavlink_manager.set_tlog_condition(tlog_condition)
+
     async def start_sitl(self) -> None:
         self._current_board = BoardDetector.detect_sitl()
         if not self.firmware_manager.is_firmware_installed(self._current_board):

core/services/ardupilot_manager/mavlink_proxy/AbstractRouter.py

@@ -4,6 +4,7 @@
 import shlex
 import shutil
 import tempfile
+from enum import Enum
 from typing import Any, List, Optional, Set, Type
 
 from loguru import logger
@@ -18,6 +19,13 @@
 )
 
 
+class TLogCondition(str, Enum):
+    """When to write tlog files."""
+
+    Always = "always"
+    WhileArmed = "while_armed"
+
+
 class AbstractRouter(metaclass=abc.ABCMeta):
     def __init__(self) -> None:
         self._endpoints: Set[Endpoint] = set()
@@ -28,6 +36,7 @@ def __init__(self) -> None:
         # to avoid any problem in __del__
         self._binary = shutil.which(self.binary_name())
         self._logdir = pathlib.Path(tempfile.gettempdir())
+        self._tlog_condition = TLogCondition.WhileArmed
         self._version = self._get_version()
 
     @staticmethod
@@ -183,6 +192,12 @@ def set_logdir(self, directory: pathlib.Path) -> None:
             raise ValueError(f"Logging directory {directory} does not exist.")
         self._logdir = directory
 
+    def tlog_condition(self) -> TLogCondition:
+        return self._tlog_condition
+
+    def set_tlog_condition(self, tlog_condition: TLogCondition) -> None:
+        self._tlog_condition = tlog_condition
+
     def add_endpoint(self, endpoint: Endpoint) -> None:
         self._validate_endpoint(endpoint)
 

core/services/ardupilot_manager/mavlink_proxy/MAVLinkRouter.py

@@ -1,8 +1,10 @@
+import configparser
 import re
 import subprocess
+import tempfile
 from typing import Optional
 
-from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.AbstractRouter import AbstractRouter, TLogCondition
 from mavlink_proxy.Endpoint import Endpoint, EndpointType
 
 
@@ -21,6 +23,21 @@ def _get_version(self) -> Optional[str]:
 
         return None
 
+    def _write_configuration_file(self) -> str:
+        def convert_tlog_condition(tlog_condition: TLogCondition) -> str:
+            match tlog_condition:
+                case TLogCondition.Always:
+                    return "always"
+                case TLogCondition.WhileArmed:
+                    return "while-armed"
+
+        config = configparser.ConfigParser()
+        config["General"] = {"LogMode": convert_tlog_condition(self.tlog_condition())}
+
+        with tempfile.NamedTemporaryFile("w", suffix=".conf", delete=False) as temp_file:
+            config.write(temp_file, space_around_delimiters=True)
+            return temp_file.name
+
     def assemble_command(self, master_endpoint: Endpoint) -> str:
         # Convert endpoint format to mavlink-router format
         def convert_endpoint(endpoint: Endpoint) -> str:
@@ -63,7 +80,7 @@ def convert_endpoint(endpoint: Endpoint) -> str:
                 f"Master endpoint of type {master_endpoint.connection_type} not supported on MavlinkRouter."
             )
 
-        return f"{self.binary()} {convert_endpoint(master_endpoint)} {endpoints} -l {self.logdir()} -T {self.logdir()}"
+        return f"{self.binary()} {convert_endpoint(master_endpoint)} {endpoints} -l {self.logdir()} -T {self.logdir()} -c {self._write_configuration_file()}"
 
     @staticmethod
     def name() -> str:

core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py

@@ -2,7 +2,7 @@
 import subprocess
 from typing import Optional
 
-from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.AbstractRouter import AbstractRouter, TLogCondition
 from mavlink_proxy.Endpoint import Endpoint, EndpointType
 
 
@@ -37,8 +37,20 @@ def convert_endpoint(endpoint: Endpoint) -> str:
                 return f"zenoh:{endpoint.place}:{endpoint.argument}"
             raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
 
+        def convert_tlog_condition(tlog_condition: TLogCondition) -> str:
+            match tlog_condition:
+                case TLogCondition.Always:
+                    return "?when=always"
+                case TLogCondition.WhileArmed:
+                    return "?when=while_armed"
+
         filtered_endpoints = Endpoint.filter_enabled(self.endpoints())
-        endpoints = " ".join([convert_endpoint(endpoint) for endpoint in [master_endpoint, *filtered_endpoints]])
+        str_endpoints = [convert_endpoint(endpoint) for endpoint in [master_endpoint, *filtered_endpoints()]]
+
+        tlog_condition_arg = convert_tlog_condition(self.tlog_condition())
+        logging_endpoint = f"tlogwriter://{self.logdir()}{tlog_condition_arg}"
+
+        endpoints = " ".join([*str_endpoints, logging_endpoint])
 
         return f"{self.binary()} {endpoints}"
 

core/services/ardupilot_manager/mavlink_proxy/Manager.py

@@ -10,7 +10,7 @@
 import mavlink_proxy.MAVLinkServer
 import mavlink_proxy.MAVP2P
 import mavlink_proxy.MAVProxy
-from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.AbstractRouter import AbstractRouter, TLogCondition
 from mavlink_proxy.Endpoint import Endpoint
 from mavlink_proxy.exceptions import (
     EndpointAlreadyExists,
@@ -171,6 +171,12 @@ def router_name(self) -> str:
     def set_logdir(self, log_dir: pathlib.Path) -> None:
         self.tool.set_logdir(log_dir)
 
+    def tlog_condition(self) -> TLogCondition:
+        return self.tool.tlog_condition()
+
+    def set_tlog_condition(self, tlog_condtion: TLogCondition) -> None:
+        self.tool.set_tlog_condition(tlog_condtion)
+
     async def auto_restart_router(self) -> None:
         """Auto-restart Mavlink router process if it dies."""
         while True: