libs: vehicle: {ardupilot, mavlink}: Apply necessary changes to create generic mavlink vehicle

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

Author: patrickelectric

src/libs/vehicle/ardupilot/ardupilot.ts

@@ -0,0 +1,31 @@
+import type { MetadataFile } from '@/types/ardupilot-metadata'
+
+import * as MAVLinkVehicle from '../mavlink/vehicle'
+import * as Vehicle from '../vehicle'
+
+// eslint-disable-next-line @typescript-eslint/no-explicit-any
+export type ArduPilot = ArduPilotVehicle<any>
+
+/**
+ * Generic ArduPilot vehicle
+ */
+export abstract class ArduPilotVehicle<Modes> extends MAVLinkVehicle.MAVLinkVehicle<Modes> {
+  _metadata: MetadataFile
+
+  /**
+   * Construct a new generic ArduPilot type
+   * @param {Vehicle.Type} type
+   * @param {number} systemId
+   */
+  constructor(type: Vehicle.Type, systemId: number) {
+    super(Vehicle.Firmware.ArduPilot, type, systemId)
+  }
+
+  /**
+   * Return metadata from the vehicle
+   * @returns {MetadataFile}
+   */
+  metadata(): MetadataFile {
+    return this._metadata
+  }
+}

src/libs/vehicle/mavlink/vehicle.ts

@@ -1,4 +1,5 @@
 import { differenceInMilliseconds } from 'date-fns'
+import { defaultMessageIntervalsOptions } from 'defaults'
 import { unit } from 'mathjs'
 
 import {
@@ -48,28 +49,22 @@ import {
   StatusText,
   Velocity,
 } from '@/libs/vehicle/types'
-import type { MetadataFile } from '@/types/ardupilot-metadata'
 import { type MissionLoadingCallback, type Waypoint, defaultLoadingCallback } from '@/types/mission'
 
 import { flattenData } from '../common/data-flattener'
-import { defaultMessageIntervalsOptions } from '../mavlink/defaults'
-import * as MAVLinkVehicle from '../mavlink/vehicle'
 import * as Vehicle from '../vehicle'
 
 export const MAVLINK_MESSAGE_INTERVALS_STORAGE_KEY = 'cockpit-mavlink-message-intervals'
 
-// eslint-disable-next-line @typescript-eslint/no-explicit-any
-export type ArduPilot = ArduPilotVehicle<any>
-
 const preDefinedDataLakeVariables = {
   cameraTilt: { id: 'cameraTiltDeg', name: 'Camera Tilt Degrees', type: 'number' },
-  ardupilotSystemId: { id: 'ardupilotSystemId', name: 'ArduPilot System ID', type: 'number' },
+  autopilotSystemId: { id: 'autopilotSystemId', name: 'Autopilot System ID', type: 'number' },
 }
 
 /**
- * Generic ArduPilot vehicle
+ * Generic MAVLink vehicle
  */
-export abstract class ArduPilotVehicle<Modes> extends MAVLinkVehicle.MAVLinkVehicle<Modes> {
+export abstract class MAVLinkVehicle<Modes> extends Vehicle.AbstractVehicle<Modes> {
   _altitude = new Altitude({ msl: unit(0, 'm'), rel: 0 })
   _attitude = new Attitude({ roll: 0, pitch: 0, yaw: 0 })
   _communicationDropRate = 0
@@ -90,7 +85,7 @@ export abstract class ArduPilotVehicle<Modes> extends MAVLinkVehicle.MAVLinkVehi
   _statusText = new StatusText()
   _statusGPS = new StatusGPS()
   _vehicleSpecificErrors = [0, 0, 0, 0]
-  _metadata: MetadataFile
+
   _messages: MAVLinkMessageDictionary = new Map()
 
   onIncomingMAVLinkMessage = new SignalTyped()
@@ -100,31 +95,13 @@ export abstract class ArduPilotVehicle<Modes> extends MAVLinkVehicle.MAVLinkVehi
   protected currentSystemId = 1
 
   /**
-   * Returns the current system ID
-   * @returns {number}
-   */
-  get systemId(): number {
-    return this.currentSystemId
-  }
-
-  /**
-   * Function for subclass inheritance
-   * Helps to deal with specialized vehicles that has particular or custom behaviour
-   * @param {Package} mavlink message
-   */
-  protected onMAVLinkPackage(mavlink: Package): void {
-    // Nothing here, typescript does not not have clean optional abstract methods
-    // without abstract class
-    mavlink
-  }
-
-  /**
-   * Construct a new generic ArduPilot type
+   * Create MAVLink vehicle
+   * @param {Vehicle.Firmware} firmware
    * @param {Vehicle.Type} type
    * @param {number} systemId
    */
-  constructor(type: Vehicle.Type, systemId: number) {
-    super(Vehicle.Firmware.ArduPilot, type)
+  constructor(firmware: Vehicle.Firmware, type: Vehicle.Type, systemId: number) {
+    super(firmware, type)
     this.currentSystemId = systemId
 
     // Request vehicle to stream a pre-defined list of messages so the GCS can receive them
@@ -139,7 +116,26 @@ export abstract class ArduPilotVehicle<Modes> extends MAVLinkVehicle.MAVLinkVehi
     this.createPredefinedDataLakeVariables()
 
     // Set the system ID in the data-lake
-    setDataLakeVariableData(preDefinedDataLakeVariables.ardupilotSystemId.id, systemId)
+    setDataLakeVariableData(preDefinedDataLakeVariables.autopilotSystemId.id, systemId)
+  }
+
+  /**
+   * Returns the current system ID
+   * @returns {number}
+   */
+  get systemId(): number {
+    return this.currentSystemId
+  }
+
+  /**
+   * Function for subclass inheritance
+   * Helps to deal with specialized vehicles that has particular or custom behaviour
+   * @param {Package} mavlink message
+   */
+  protected onMAVLinkPackage(mavlink: Package): void {
+    // Nothing here, typescript does not not have clean optional abstract methods
+    // without abstract class
+    mavlink
   }
 
   /**
@@ -694,14 +690,6 @@ export abstract class ArduPilotVehicle<Modes> extends MAVLinkVehicle.MAVLinkVehi
     return this._flying
   }
 
-  /**
-   * Return metadata from the vehicle
-   * @returns {MetadataFile}
-   */
-  metadata(): MetadataFile {
-    return this._metadata
-  }
-
   /**
    * Return vehicle position information
    * @returns {Coordinates}