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patrickelectricpatrickelectric
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
1 parent 289eafb commit adc0031

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8 files changed

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‎core/frontend/src/components/autopilot/AutopilotExtraArguments.vue‎

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<template>
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<v-card class="mt-5">
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<v-card-text>
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<v-alert
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v-if="has_crash"
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type="error"
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dense
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class="mb-4"
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>
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ArduPilot process exited with code {{ process_status.exit_code }}.
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Check your arguments and restart.
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</v-alert>
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<div
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v-for="(_, index) in entries"
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:key="index"
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class="d-flex align-center mb-2"
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>
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<v-text-field
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v-model="entries[index].name"
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label="Argument"
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placeholder="e.g. --home"
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outlined
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dense
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hide-details
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class="mr-2"
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/>
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<v-text-field
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v-model="entries[index].value"
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label="Value"
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placeholder="e.g. -27.563,-48.459,0.0,270.0"
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outlined
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dense
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hide-details
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class="mr-2"
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/>
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<v-btn
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icon
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color="error"
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@click="removeEntry(index)"
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>
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<v-icon>mdi-close-circle</v-icon>
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</v-btn>
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</div>
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<v-btn
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text
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color="primary"
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class="mt-2"
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@click="addEntry"
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>
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<v-icon left>
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mdi-plus
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</v-icon>
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Add argument
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</v-btn>
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</v-card-text>
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<v-card-actions>
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<v-btn
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style="margin: auto;"
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color="primary"
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:loading="restarting"
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:disabled="!has_changes"
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@click="saveAndRestart"
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>
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Save and restart
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</v-btn>
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</v-card-actions>
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</v-card>
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</template>
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<script lang="ts">
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import Vue from 'vue'
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import * as AutopilotManager from '@/components/autopilot/AutopilotManagerUpdater'
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import { fetchExtraArguments, fetchProcessStatus } from '@/components/autopilot/AutopilotManagerUpdater'
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import Notifier from '@/libs/notifier'
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import { OneMoreTime } from '@/one-more-time'
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import autopilot from '@/store/autopilot_manager'
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import { ProcessStatus } from '@/types/autopilot'
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import { autopilot_service } from '@/types/frontend_services'
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import back_axios from '@/utils/api'
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const notifier = new Notifier(autopilot_service)
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interface ArgumentEntry {
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name: string
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value: string
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}
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export default Vue.extend({
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name: 'AutopilotExtraArguments',
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data() {
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return {
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entries: [] as ArgumentEntry[],
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fetch_extra_arguments_task: new OneMoreTime({ delay: 10000, disposeWith: this }),
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fetch_process_status_task: new OneMoreTime({ delay: 5000, disposeWith: this }),
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loaded: false,
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}
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},
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computed: {
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restarting(): boolean {
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return autopilot.restarting
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},
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stored_arguments(): Record<string, string> {
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return autopilot.extra_arguments
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},
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process_status(): ProcessStatus | null {
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return autopilot.process_status
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},
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has_crash(): boolean {
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const status = this.process_status
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return status !== null && !status.running
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&& status.exit_code !== null && status.exit_code !== 0
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},
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has_changes(): boolean {
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const current = this.entriesToDict()
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const stored = this.stored_arguments
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return JSON.stringify(current) !== JSON.stringify(stored)
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},
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},
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watch: {
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stored_arguments: {
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handler(new_args: Record<string, string>) {
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if (!this.loaded) {
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this.loadEntries(new_args)
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this.loaded = true
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}
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},
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immediate: true,
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},
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},
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mounted() {
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this.fetch_extra_arguments_task.setAction(fetchExtraArguments)
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this.fetch_process_status_task.setAction(fetchProcessStatus)
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},
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methods: {
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loadEntries(args: Record<string, string>): void {
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this.entries = Object.entries(args).map(([name, value]) => ({ name, value }))
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},
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entriesToDict(): Record<string, string> {
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const result: Record<string, string> = {}
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for (const entry of this.entries) {
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const name = entry.name.trim()
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if (name) {
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result[name] = entry.value.trim()
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}
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}
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return result
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},
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addEntry(): void {
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this.entries.push({ name: '', value: '' })
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},
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removeEntry(index: number): void {
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this.entries.splice(index, 1)
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},
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async saveAndRestart(): Promise<void> {
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const args = this.entriesToDict()
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try {
158+
await back_axios({
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method: 'put',
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url: `${autopilot.API_URL}/extra_arguments`,
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timeout: 10000,
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data: args,
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})
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autopilot.setExtraArguments(args)
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this.loaded = false
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} catch (error) {
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notifier.pushBackError('AUTOPILOT_EXTRA_ARGS_SAVE_FAIL', error)
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return
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}
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await AutopilotManager.restart()
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},
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},
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})
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</script>

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

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Original file line numberDiff line numberDiff line change
@@ -114,6 +114,34 @@ export async function fetchFirmwareVehicleType(): Promise<void> {
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}
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}
116116

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export async function fetchExtraArguments(): Promise<void> {
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try {
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const response = await back_axios({
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method: 'get',
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url: `${autopilot.API_URL}/extra_arguments`,
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timeout: 10000,
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})
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autopilot.setExtraArguments(response.data)
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} catch (error) {
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autopilot.setExtraArguments({})
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notifier.pushBackError('AUTOPILOT_EXTRA_ARGS_FETCH_FAIL', error)
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}
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}
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export async function fetchProcessStatus(): Promise<void> {
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try {
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const response = await back_axios({
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method: 'get',
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url: `${autopilot.API_URL}/process_status`,
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timeout: 10000,
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})
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autopilot.setProcessStatus(response.data)
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} catch (error) {
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autopilot.setProcessStatus(null)
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notifier.pushBackError('AUTOPILOT_PROCESS_STATUS_FETCH_FAIL', error)
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}
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}
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export async function availableFirmwares(vehicleType: Vehicle): Promise<Firmware[]> {
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return back_axios({
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method: 'get',

‎core/frontend/src/store/autopilot_manager.ts‎

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@@ -5,8 +5,9 @@ import {
55
import store from '@/store'
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import {
77
AutopilotEndpoint, FirmwareInfo, FirmwareVehicleType,
8-
FlightController, SerialEndpoint,
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FlightController, ProcessStatus, SerialEndpoint,
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} from '@/types/autopilot'
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import { Dictionary } from '@/types/common'
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@Module({
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dynamic: true,
@@ -37,6 +38,10 @@ class AutopilotManagerStore extends VuexModule {
3738

3839
autopilot_serials: SerialEndpoint[] = []
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41+
extra_arguments: Dictionary<string> = {}
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process_status: ProcessStatus | null = null
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@Mutation
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setAutopilotSerialConfigurations(serials: SerialEndpoint[]): void {
4247
this.autopilot_serials = serials
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this.available_boards = boards
8489
this.updating_boards = false
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}
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@Mutation
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setExtraArguments(arguments_: Dictionary<string>): void {
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this.extra_arguments = arguments_
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}
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@Mutation
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setProcessStatus(process_status: ProcessStatus | null): void {
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this.process_status = process_status
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}
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}
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88103
export { AutopilotManagerStore }

‎core/frontend/src/types/autopilot.ts‎

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@@ -98,3 +98,8 @@ export interface SerialEndpoint {
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port: string
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endpoint: string
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}
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export interface ProcessStatus {
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running: boolean
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exit_code: number | null
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}

‎core/frontend/src/views/Autopilot.vue‎

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</v-expansion-panel-content>
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</v-expansion-panel>
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</v-expansion-panels>
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<v-expansion-panels v-if="settings.is_pirate_mode && isLinuxFlightController">
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<v-expansion-panel>
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<v-expansion-panel-header>
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Extra Arguments
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</v-expansion-panel-header>
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<v-expansion-panel-content>
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<autopilot-extra-arguments />
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</v-expansion-panel-content>
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</v-expansion-panel>
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</v-expansion-panels>
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</v-card-text>
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<v-card-actions class="d-flex justify-end align-center flex-wrap">
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<v-spacer />
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import ArduPilotBanner from '@/assets/img/banners/ArduPilot.svg'
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import OpenPilotBanner from '@/assets/img/banners/OpenPilot.svg'
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import PX4Banner from '@/assets/img/banners/PX4.svg'
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import AutopilotExtraArguments from '@/components/autopilot/AutopilotExtraArguments.vue'
134145
import * as AutopilotManager from '@/components/autopilot/AutopilotManagerUpdater'
135146
import {
136147
fetchAvailableBoards, fetchCurrentBoard, fetchFirmwareInfo, fetchFirmwareVehicleType, fetchVehicleType,
@@ -156,6 +167,7 @@ const notifier = new Notifier(autopilot_service)
156167
export default Vue.extend({
157168
name: 'Autopilot',
158169
components: {
170+
AutopilotExtraArguments,
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BoardChangeDialog,
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FirmwareManager,
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AutopilotSerialConfiguration,

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

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@@ -3,7 +3,7 @@
33
import shutil
44
from functools import wraps
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from pathlib import Path
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from typing import Any, Callable, List, Optional, Tuple
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from typing import Any, Callable, Dict, List, Optional, Tuple
77

88
from autopilot_manager import AutoPilotManager
99
from commonwealth.mavlink_comm.exceptions import (
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2424
FlightController,
2525
FlightControllerFlags,
2626
Parameters,
27+
ProcessStatus,
2728
Serial,
2829
SITLFrame,
2930
Vehicle,
@@ -136,6 +137,24 @@ async def set_sitl_frame(frame: SITLFrame) -> Any:
136137
return autopilot.set_sitl_frame(frame)
137138

138139

140+
@index_router_v1.get("/extra_arguments", response_model=Dict[str, str], summary="Get extra ArduPilot arguments.")
141+
@index_to_http_exception
142+
def get_extra_arguments() -> Any:
143+
return autopilot.get_extra_arguments()
144+
145+
146+
@index_router_v1.put("/extra_arguments", status_code=status.HTTP_200_OK, summary="Set extra ArduPilot arguments.")
147+
@index_to_http_exception
148+
def set_extra_arguments(arguments: Dict[str, str] = Body(...)) -> Any:
149+
autopilot.set_extra_arguments(arguments)
150+
151+
152+
@index_router_v1.get("/process_status", response_model=ProcessStatus, summary="Get ArduPilot process status.")
153+
@index_to_http_exception
154+
def get_process_status() -> Any:
155+
return autopilot.get_process_status()
156+
157+
139158
@index_router_v1.get("/firmware_vehicle_type", response_model=str, summary="Get firmware vehicle type.")
140159
@index_to_http_exception
141160
async def get_firmware_vehicle_type() -> Any:

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