From 79bb92df8b5b0de932d03515526f697c5aef771c Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Tue, 28 Oct 2025 20:39:28 +0000 Subject: [PATCH 1/8] Add fetching of flight sw version --- gcs/src/redux/middleware/socketMiddleware.js | 3 + gcs/src/redux/slices/droneInfoSlice.js | 8 ++ radio/app/drone.py | 81 +++++++++++++++++++- radio/app/endpoints/comPorts.py | 15 +++- radio/app/utils.py | 34 +++++++- 5 files changed, 135 insertions(+), 6 deletions(-) diff --git a/gcs/src/redux/middleware/socketMiddleware.js b/gcs/src/redux/middleware/socketMiddleware.js index 0d07608d7..2de0dcc65 100644 --- a/gcs/src/redux/middleware/socketMiddleware.js +++ b/gcs/src/redux/middleware/socketMiddleware.js @@ -55,6 +55,7 @@ import { setDroneAircraftType, setEkfStatusReportData, setExtraData, + setFlightSwVersion, setGpsData, setGpsRawIntData, setGuidedModePinData, @@ -341,6 +342,8 @@ const socketMiddleware = (store) => { if (msg.aircraft_type !== 1 && msg.aircraft_type !== 2) { showErrorNotification("Aircraft not of type quadcopter or plane") } + + store.dispatch(setFlightSwVersion(msg.flight_sw_version)) store.dispatch(setConnected(true)) store.dispatch(setConnecting(false)) store.dispatch(setConnectionModal(false)) diff --git a/gcs/src/redux/slices/droneInfoSlice.js b/gcs/src/redux/slices/droneInfoSlice.js index bb7b8bcfe..859f13814 100644 --- a/gcs/src/redux/slices/droneInfoSlice.js +++ b/gcs/src/redux/slices/droneInfoSlice.js @@ -9,6 +9,7 @@ import { const droneInfoSlice = createSlice({ name: "droneInfo", initialState: { + flightSwVersion: "", attitudeData: { roll: 0.0, pitch: 0.0, @@ -85,6 +86,9 @@ const droneInfoSlice = createSlice({ }, }, reducers: { + setFlightSwVersion: (state, action) => { + state.flightSwVersion = action.payload + }, setHeartbeatData: (state, action) => { if ( action.payload.base_mode & 128 && @@ -225,6 +229,8 @@ const droneInfoSlice = createSlice({ }, }, selectors: { + selectFlightSwVersion: (state) => state.flightSwVersion, + selectAttitude: (state) => state.attitudeData, selectTelemetry: (state) => state.telemetryData, @@ -263,6 +269,7 @@ const droneInfoSlice = createSlice({ }) export const { + setFlightSwVersion, setHeartbeatData, soundPlayed, changeExtraData, @@ -335,6 +342,7 @@ export const selectFlightModeString = createSelector( ) export const { + selectFlightSwVersion, selectAttitude, selectTelemetry, selectGPS, diff --git a/radio/app/drone.py b/radio/app/drone.py index e13af736b..ce7b147a8 100644 --- a/radio/app/drone.py +++ b/radio/app/drone.py @@ -24,7 +24,13 @@ from app.controllers.paramsController import ParamsController from app.controllers.rcController import RcController from app.customTypes import Number, Response, VehicleType -from app.utils import commandAccepted, getVehicleType, sendingCommandLock +from app.utils import ( + commandAccepted, + decodeFlightSwVersion, + getFlightSwVersionString, + getVehicleType, + sendingCommandLock, +) # Constants @@ -127,7 +133,13 @@ def __init__( try: self.sendConnectionStatusUpdate(0) - self.master: mavutil.mavserial = mavutil.mavlink_connection(port, baud=baud) + # Source system and component set to GCS values + self.master: mavutil.mavserial = mavutil.mavlink_connection( + port, + baud=baud, + source_system=255, + source_component=mavutil.mavlink.MAV_COMP_ID_MISSIONPLANNER, + ) except Exception as e: self.logger.exception(traceback.format_exc()) self.master = None @@ -206,6 +218,28 @@ def __init__( self.sending_command_lock = Lock() self.armed = False + self.capabilities: Optional[list[str]] = None + self.flight_sw_version: Optional[tuple[int, int, int, int]] = None + + self.getAutopilotVersion() + + if self.flight_sw_version is None: + self.logger.error("Could not determine flight software version") + self.master.close() + self.master = None + self.connectionError = "Could not determine flight software version" + return + + self.logger.info( + f"Flight software version: {getFlightSwVersionString(self.flight_sw_version)}" + ) + + if self.flight_sw_version[0] != 4: + self.logger.error("Unsupported flight software version") + self.master.close() + self.master = None + self.connectionError = f"Unsupported flight software version {getFlightSwVersionString(self.flight_sw_version)}. Only version 4.x.x is supported." + return self.sendConnectionStatusUpdate(3) self.paramsController = ParamsController(self) @@ -698,7 +732,7 @@ def sendHeartbeatMessage(self) -> None: mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, - 0, + mavutil.mavlink.MAV_STATE_ACTIVE, ) except Exception as e: self.logger.error(f"Failed to send heartbeat: {e}", exc_info=True) @@ -741,6 +775,47 @@ def stopAllThreads(self) -> None: if thread is not None and thread.is_alive() and thread is not this_thread: thread.join(timeout=3) + @sendingCommandLock + def getAutopilotVersion(self) -> None: + """Get the autopilot version.""" + was_listening = self.is_listening is True + self.is_listening = False + + self.sendCommand( + mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE, + param1=mavutil.mavlink.MAVLINK_MSG_ID_AUTOPILOT_VERSION, + ) + + try: + response = self.master.recv_match( + type="AUTOPILOT_VERSION", blocking=True, timeout=5 + ) + if was_listening: + self.is_listening = True + + if response is None: + self.logger.error("Failed to get autopilot version: Timeout") + return + + capabilities = getattr(response, "capabilities", None) + if capabilities is not None: + # Decode capabilities bitmask into list of capability names + capabilities_map = mavutil.mavlink.enums["MAV_PROTOCOL_CAPABILITY"] + self.capabilities = [] + for capability_value, capability_enum in capabilities_map.items(): + if capabilities & capability_value: + self.capabilities.append(capability_enum.name) + + flight_sw_version = getattr(response, "flight_sw_version", None) + if flight_sw_version is not None: + self.flight_sw_version = decodeFlightSwVersion(flight_sw_version) + + except serial.serialutil.SerialException: + if was_listening: + self.is_listening = True + + self.logger.error("Failed to get autopilot version due to serial exception") + def rebootAutopilot(self) -> None: """Reboot the autopilot.""" self.is_listening = False diff --git a/radio/app/endpoints/comPorts.py b/radio/app/endpoints/comPorts.py index 2ac7a97d7..e0c054416 100644 --- a/radio/app/endpoints/comPorts.py +++ b/radio/app/endpoints/comPorts.py @@ -8,7 +8,12 @@ import app.droneStatus as droneStatus from app import logger, socketio from app.drone import Drone -from app.utils import droneConnectStatusCb, droneErrorCb, getComPortNames +from app.utils import ( + droneConnectStatusCb, + droneErrorCb, + getComPortNames, + getFlightSwVersionString, +) class ConnectionDataType(TypedDict): @@ -150,7 +155,13 @@ def connectToDrone(data: ConnectionDataType) -> None: # Sleeping for buffer time, if errors occur try changing back to 1 second time.sleep(0.2) logger.debug("Created drone instance") - socketio.emit("connected_to_drone", {"aircraft_type": drone.aircraft_type}) + socketio.emit( + "connected_to_drone", + { + "aircraft_type": drone.aircraft_type, + "flight_sw_version": getFlightSwVersionString(drone.flight_sw_version), + }, + ) @socketio.on("disconnect_from_drone") diff --git a/radio/app/utils.py b/radio/app/utils.py index 428f67aea..a77b448f1 100644 --- a/radio/app/utils.py +++ b/radio/app/utils.py @@ -1,5 +1,5 @@ import sys -from typing import Any, List +from typing import Any, List, Optional from pymavlink import mavutil from serial.tools import list_ports @@ -235,3 +235,35 @@ def wrapper(self, *args, **kwargs): lock.release() return wrapper + + +def decodeFlightSwVersion(v: Optional[int]) -> Optional[tuple[int, int, int, int]]: + """ + Decode a packed uint32 flight_sw_version into major.minor.patch and extra byte. + Format (conventional MAVLink): [major:8][minor:8][patch:8][extra:8] + Returns a human-readable string. + """ + if v is None: + return None + v &= 0xFFFFFFFF + major = (v >> 24) & 0xFF + minor = (v >> 16) & 0xFF + patch = (v >> 8) & 0xFF + extra = v & 0xFF + + return (major, minor, patch, extra) + + +def getFlightSwVersionString(v: Optional[tuple[int, int, int, int]]) -> str: + """ + Convert flight_sw_version tuple into a human-readable string. + """ + if v is None: + return "" + + major, minor, patch, extra = v + + if extra != 0: + return f"{major}.{minor}.{patch} ({extra:02x})" + else: + return f"{major}.{minor}.{patch}" From 77a5ad2072296fbc0f8abe6741b5271d56909ea1 Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Tue, 28 Oct 2025 21:14:46 +0000 Subject: [PATCH 2/8] Update to always listen for and send status text messages, fix bug with status text messages not being reset --- .../components/dashboard/statusMessages.jsx | 8 ++- gcs/src/dashboard.jsx | 72 +++++++++---------- gcs/src/redux/middleware/socketMiddleware.js | 3 +- gcs/src/redux/slices/statusTextSlice.js | 5 +- radio/app/drone.py | 50 +++++++------ radio/app/endpoints/states.py | 1 - 6 files changed, 74 insertions(+), 65 deletions(-) diff --git a/gcs/src/components/dashboard/statusMessages.jsx b/gcs/src/components/dashboard/statusMessages.jsx index d6655e9e5..89df73d8e 100644 --- a/gcs/src/components/dashboard/statusMessages.jsx +++ b/gcs/src/components/dashboard/statusMessages.jsx @@ -68,9 +68,11 @@ export default function StatusMessages(props) { key={index} className={getMessageOutsideVisibilityClassNames()} > -

- {moment.unix(message.timestamp).format("HH:mm:ss")} -

+ {message.timestamp !== null && ( +

+ {moment.unix(message.timestamp).format("HH:mm:ss")} +

+ )}

{message.text}

diff --git a/gcs/src/dashboard.jsx b/gcs/src/dashboard.jsx index fdc080a95..68dc2bc44 100644 --- a/gcs/src/dashboard.jsx +++ b/gcs/src/dashboard.jsx @@ -236,45 +236,45 @@ export default function Dashboard() { {/* Video Widget for RTSP streams */} - {connectedToDrone && ( -
- ( - - )} - handleSize={[32, 32]} - onResize={(_, { size }) => { - setMessagesPanelSize({ width: size.width, height: size.height }) - }} - > - <> - {/* Show a "Waiting for message area" */} - {statustextMessages.length == 0 && ( - - )} - {/* Show real messages */} +
+ ( + + )} + handleSize={[32, 32]} + onResize={(_, { size }) => { + setMessagesPanelSize({ width: size.width, height: size.height }) + }} + > + <> + {/* Show a "Waiting for message area" */} + {statustextMessages.length == 0 && ( - - -
- )} + )} + {/* Show real messages */} + + + +
) diff --git a/gcs/src/redux/middleware/socketMiddleware.js b/gcs/src/redux/middleware/socketMiddleware.js index 2de0dcc65..666b43be1 100644 --- a/gcs/src/redux/middleware/socketMiddleware.js +++ b/gcs/src/redux/middleware/socketMiddleware.js @@ -98,7 +98,7 @@ import { setShownParams, updateParamValue, } from "../slices/paramsSlice.js" -import { pushMessage } from "../slices/statusTextSlice.js" +import { pushMessage, resetMessages } from "../slices/statusTextSlice.js" import { handleEmitters } from "./emitters.js" const SocketEvents = Object.freeze({ @@ -354,6 +354,7 @@ const socketMiddleware = (store) => { store.dispatch(setAutoPilotRebootModalOpen(false)) store.dispatch(setShouldFetchAllMissionsOnDashboard(true)) store.dispatch(setShowMotorTestWarningModal(true)) + store.dispatch(resetMessages()) }) // Link stats diff --git a/gcs/src/redux/slices/statusTextSlice.js b/gcs/src/redux/slices/statusTextSlice.js index d916906b8..917e217d7 100644 --- a/gcs/src/redux/slices/statusTextSlice.js +++ b/gcs/src/redux/slices/statusTextSlice.js @@ -7,6 +7,9 @@ const statusTextSlice = createSlice({ pushMessage: (state, action) => { state.messages.unshift(action.payload) }, + resetMessages: (state) => { + state.messages = [] + }, }, selectors: { selectMessages: (state) => { @@ -15,7 +18,7 @@ const statusTextSlice = createSlice({ }, }) -export const { pushMessage } = statusTextSlice.actions +export const { pushMessage, resetMessages } = statusTextSlice.actions export const { selectMessages } = statusTextSlice.selectors export default statusTextSlice diff --git a/radio/app/drone.py b/radio/app/drone.py index ce7b147a8..975576065 100644 --- a/radio/app/drone.py +++ b/radio/app/drone.py @@ -30,6 +30,7 @@ getFlightSwVersionString, getVehicleType, sendingCommandLock, + sendMessage, ) # Constants @@ -187,6 +188,7 @@ def __init__( self.message_listeners: Dict[str, Callable] = {} self.message_queue: Queue = Queue() self.log_message_queue: Queue = Queue() + self.log_directory = Path.home().joinpath("FGCS", "logs") self.log_directory.mkdir(parents=True, exist_ok=True) self.current_log_file: Optional[Path] = None @@ -195,32 +197,28 @@ def __init__( self.sendConnectionStatusUpdate(2) - self.is_active = Event() - self.is_active.set() - self.is_listening = False + # To ensure that only one command is sent at a time and we wait for a + # response before sending another command, a thread-safe lock is used + self.sending_command_lock = Lock() self.forwarding_address: Optional[str] = None self.forwarding_connection: Optional[mavutil.mavlink_connection] = None - if forwarding_address is not None: - try: - start_forwarding_result = self.startForwardingToAddress( - forwarding_address - ) - if not start_forwarding_result.get("success", False): - self.logger.error( - f"Failed to start forwarding: {start_forwarding_result.get('message', 'Unknown error')}" - ) - except Exception as e: - self.logger.error(f"Failed to start forwarding: {e}", exc_info=True) - # To ensure that only one command is sent at a time and we wait for a - # response before sending another command, a thread-safe lock is used - self.sending_command_lock = Lock() + self.is_active = Event() + self.is_active.set() self.armed = False self.capabilities: Optional[list[str]] = None self.flight_sw_version: Optional[tuple[int, int, int, int]] = None + self.stopAllDataStreams() + + # Always send STATUSTEXT messages + self.addMessageListener("STATUSTEXT", sendMessage) + self.is_listening = True + + self.startThread() + self.getAutopilotVersion() if self.flight_sw_version is None: @@ -241,6 +239,18 @@ def __init__( self.connectionError = f"Unsupported flight software version {getFlightSwVersionString(self.flight_sw_version)}. Only version 4.x.x is supported." return + if forwarding_address is not None: + try: + start_forwarding_result = self.startForwardingToAddress( + forwarding_address + ) + if not start_forwarding_result.get("success", False): + self.logger.error( + f"Failed to start forwarding: {start_forwarding_result.get('message', 'Unknown error')}" + ) + except Exception as e: + self.logger.error(f"Failed to start forwarding: {e}", exc_info=True) + self.sendConnectionStatusUpdate(3) self.paramsController = ParamsController(self) @@ -268,12 +278,6 @@ def __init__( self.sendConnectionStatusUpdate(11) self.navController = NavController(self) - self.stopAllDataStreams() - - self.is_listening = True - - self.startThread() - self.sendConnectionStatusUpdate(12) def __getNextLogFilePath(self, line: str) -> str: diff --git a/radio/app/endpoints/states.py b/radio/app/endpoints/states.py index 22268647f..464c1ec61 100644 --- a/radio/app/endpoints/states.py +++ b/radio/app/endpoints/states.py @@ -40,7 +40,6 @@ def set_state(data: SetStateType) -> None: "ALTITUDE", "NAV_CONTROLLER_OUTPUT", "HEARTBEAT", - "STATUSTEXT", "SYS_STATUS", "GPS_RAW_INT", "RC_CHANNELS", From d7befa27e962ff14ce30499247f77b0c4e367b48 Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Wed, 29 Oct 2025 18:26:20 +0000 Subject: [PATCH 3/8] Add status text send function, refactor controller initialisation --- radio/app/drone.py | 35 +++++++++++++++++++++++++++-------- 1 file changed, 27 insertions(+), 8 deletions(-) diff --git a/radio/app/drone.py b/radio/app/drone.py index 975576065..d9efae18b 100644 --- a/radio/app/drone.py +++ b/radio/app/drone.py @@ -251,6 +251,21 @@ def __init__( except Exception as e: self.logger.error(f"Failed to start forwarding: {e}", exc_info=True) + self.setupControllers() + + self.sendConnectionStatusUpdate(12) + + self.sendStatusTextMessage( + mavutil.mavlink.MAV_SEVERITY_INFO, "FGCS connected to aircraft" + ) + + def __getNextLogFilePath(self, line: str) -> str: + return line.split("==NEXT_FILE==")[-1].split("==END==")[0] + + def __getCurrentDateTimeStr(self) -> str: + return time.strftime("%Y-%m-%d_%H-%M-%S", time.localtime()) + + def setupControllers(self) -> None: self.sendConnectionStatusUpdate(3) self.paramsController = ParamsController(self) @@ -278,14 +293,6 @@ def __init__( self.sendConnectionStatusUpdate(11) self.navController = NavController(self) - self.sendConnectionStatusUpdate(12) - - def __getNextLogFilePath(self, line: str) -> str: - return line.split("==NEXT_FILE==")[-1].split("==END==")[0] - - def __getCurrentDateTimeStr(self) -> str: - return time.strftime("%Y-%m-%d_%H-%M-%S", time.localtime()) - def sendConnectionStatusUpdate(self, msg_index): total_msgs = len(self.connection_phases) if msg_index < 0 or msg_index >= total_msgs: @@ -988,6 +995,18 @@ def sendCommandInt( z, ) + def sendStatusTextMessage(self, severity: int, text: str) -> None: + """Send a status text message to the drone. + + Args: + severity (int): The severity of the message + text (str): The text of the message + """ + max_len = 50 + for i in range(0, len(text), max_len): + chunk = text[i : i + max_len] + self.master.mav.statustext_send(severity, chunk.encode("utf-8")) + def startForwardingToAddress(self, address: str) -> Response: """Start forwarding MAVLink messages to a specific address. From bb090b44e3fb9580611184a67ebc8f3d9c9f2ba5 Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Wed, 29 Oct 2025 18:33:08 +0000 Subject: [PATCH 4/8] Address copilot review comments --- radio/app/drone.py | 13 ++++++------- radio/app/utils.py | 3 ++- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/radio/app/drone.py b/radio/app/drone.py index d9efae18b..0b6dad40c 100644 --- a/radio/app/drone.py +++ b/radio/app/drone.py @@ -213,12 +213,6 @@ def __init__( self.stopAllDataStreams() - # Always send STATUSTEXT messages - self.addMessageListener("STATUSTEXT", sendMessage) - self.is_listening = True - - self.startThread() - self.getAutopilotVersion() if self.flight_sw_version is None: @@ -251,6 +245,11 @@ def __init__( except Exception as e: self.logger.error(f"Failed to start forwarding: {e}", exc_info=True) + # Always send STATUSTEXT messages + self.addMessageListener("STATUSTEXT", sendMessage) + self.is_listening = True + + self.startThread() self.setupControllers() self.sendConnectionStatusUpdate(12) @@ -789,7 +788,7 @@ def stopAllThreads(self) -> None: @sendingCommandLock def getAutopilotVersion(self) -> None: """Get the autopilot version.""" - was_listening = self.is_listening is True + was_listening = self.is_listening self.is_listening = False self.sendCommand( diff --git a/radio/app/utils.py b/radio/app/utils.py index a77b448f1..49c42a071 100644 --- a/radio/app/utils.py +++ b/radio/app/utils.py @@ -241,7 +241,8 @@ def decodeFlightSwVersion(v: Optional[int]) -> Optional[tuple[int, int, int, int """ Decode a packed uint32 flight_sw_version into major.minor.patch and extra byte. Format (conventional MAVLink): [major:8][minor:8][patch:8][extra:8] - Returns a human-readable string. + Returns: + A tuple of (major, minor, patch, extra) or None if input is None """ if v is None: return None From 129dac74d459de1a01bb05d8ea37ac901f1b4157 Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Wed, 29 Oct 2025 18:35:40 +0000 Subject: [PATCH 5/8] Add type to is_listening --- radio/app/drone.py | 1 + 1 file changed, 1 insertion(+) diff --git a/radio/app/drone.py b/radio/app/drone.py index 0b6dad40c..f13f04849 100644 --- a/radio/app/drone.py +++ b/radio/app/drone.py @@ -206,6 +206,7 @@ def __init__( self.is_active = Event() self.is_active.set() + self.is_listening: bool = False self.armed = False self.capabilities: Optional[list[str]] = None From 4f8e1834d8dd62a1b6c47902d8469903c4fb0a44 Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Wed, 29 Oct 2025 20:13:11 +0000 Subject: [PATCH 6/8] Fix pytests --- .github/workflows/python_tests.yml | 3 +- radio/app/drone.py | 8 ++-- radio/tests/__init__.py | 13 ++++++ ...getCurrentMission_correctFence_result.json | 26 +++++------ ...tCurrentMission_correctMission_result.json | 16 +++---- ...getCurrentMission_correctRally_result.json | 4 +- ...getCurrentMission_correctState_result.json | 46 +++++++++---------- ...urrentMission_uploadFenceSuccess_data.json | 26 +++++------ ...rentMission_uploadMissionSuccess_data.json | 16 +++---- ...urrentMission_uploadRallySuccess_data.json | 4 +- radio/tests/test_comPorts.py | 15 ++++-- radio/tests/test_states.py | 19 +++----- 12 files changed, 107 insertions(+), 89 deletions(-) diff --git a/.github/workflows/python_tests.yml b/.github/workflows/python_tests.yml index fd73e0357..7df579b46 100644 --- a/.github/workflows/python_tests.yml +++ b/.github/workflows/python_tests.yml @@ -28,7 +28,7 @@ jobs: - name: Set up Python 3.11 uses: actions/setup-python@v4 with: - python-version: "3.11" + python-version: '3.11' - name: Install dependencies working-directory: radio @@ -39,4 +39,5 @@ jobs: - name: Test with pytest working-directory: radio + timeout-minutes: 25 run: pytest --log-cli-level=DEBUG diff --git a/radio/app/drone.py b/radio/app/drone.py index f13f04849..0c394c957 100644 --- a/radio/app/drone.py +++ b/radio/app/drone.py @@ -212,8 +212,6 @@ def __init__( self.capabilities: Optional[list[str]] = None self.flight_sw_version: Optional[tuple[int, int, int, int]] = None - self.stopAllDataStreams() - self.getAutopilotVersion() if self.flight_sw_version is None: @@ -234,6 +232,8 @@ def __init__( self.connectionError = f"Unsupported flight software version {getFlightSwVersionString(self.flight_sw_version)}. Only version 4.x.x is supported." return + self.stopAllDataStreams() + if forwarding_address is not None: try: start_forwarding_result = self.startForwardingToAddress( @@ -246,12 +246,14 @@ def __init__( except Exception as e: self.logger.error(f"Failed to start forwarding: {e}", exc_info=True) + self.setupControllers() + # Always send STATUSTEXT messages self.addMessageListener("STATUSTEXT", sendMessage) + self.is_listening = True self.startThread() - self.setupControllers() self.sendConnectionStatusUpdate(12) diff --git a/radio/tests/__init__.py b/radio/tests/__init__.py index 7067fb000..9842c6ce7 100644 --- a/radio/tests/__init__.py +++ b/radio/tests/__init__.py @@ -9,6 +9,19 @@ app = create_app(debug=True) socketio = socketio + +@socketio.on("incoming_msg") +def ignore_incoming_msg(data): + """Silently ignore telemetry incoming_msg events during testing""" + pass + + +@socketio.on("link_debug_stats") +def ignore_link_debug_stats(data): + """Silently ignore link_debug_stats events during testing""" + pass + + # Create flask/socketio clients to be used in tests flask_client: FlaskClient = app.test_client() socketio_client: SocketIOTestClient = socketio.test_client( diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json index 519cba6d4..725291dd2 100644 --- a/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json +++ b/radio/tests/mission_test_files/test_getCurrentMission_correctFence_result.json @@ -14,7 +14,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527814618, "y": -7105708, @@ -32,7 +32,7 @@ "param3": 0.0, "param4": 0.0, "seq": 1, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527810530, "y": -7102918, @@ -50,7 +50,7 @@ "param3": 0.0, "param4": 0.0, "seq": 2, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527800342, "y": -7108390, @@ -68,7 +68,7 @@ "param3": 0.0, "param4": 0.0, "seq": 3, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527818512, "y": -7035434, @@ -86,7 +86,7 @@ "param3": 0.0, "param4": 0.0, "seq": 4, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527830582, "y": -7060110, @@ -104,7 +104,7 @@ "param3": 0.0, "param4": 0.0, "seq": 5, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527825456, "y": -7081568, @@ -122,7 +122,7 @@ "param3": 0.0, "param4": 0.0, "seq": 6, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527796578, "y": -7092163, @@ -140,7 +140,7 @@ "param3": 0.0, "param4": 0.0, "seq": 7, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527801900, "y": -7044017, @@ -158,7 +158,7 @@ "param3": 0.0, "param4": 0.0, "seq": 8, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527828246, "y": -7061076, @@ -176,7 +176,7 @@ "param3": 0.0, "param4": 0.0, "seq": 9, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527818707, "y": -7041549, @@ -194,7 +194,7 @@ "param3": 0.0, "param4": 0.0, "seq": 10, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527814489, "y": -7058179, @@ -212,7 +212,7 @@ "param3": 0.0, "param4": 0.0, "seq": 11, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527821887, "y": -7058072, @@ -230,7 +230,7 @@ "param3": 0.0, "param4": 0.0, "seq": 12, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527826364, "y": -7068908, diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json index 0e860cbab..017a018a1 100644 --- a/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json +++ b/radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json @@ -14,7 +14,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527805690, "y": -7079236, @@ -23,7 +23,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 1, "frame": 3, "command": 22, @@ -41,7 +41,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 2, "frame": 3, "command": 16, @@ -59,7 +59,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 3, "frame": 3, "command": 16, @@ -77,7 +77,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 4, "frame": 3, "command": 16, @@ -95,7 +95,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 5, "frame": 3, "command": 16, @@ -113,7 +113,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 6, "frame": 3, "command": 16, @@ -131,7 +131,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 7, "frame": 3, "command": 21, diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json index 0fcfa133a..a0dede69e 100644 --- a/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json +++ b/radio/tests/mission_test_files/test_getCurrentMission_correctRally_result.json @@ -14,7 +14,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527810011, "y": -7094872, @@ -32,7 +32,7 @@ "param3": 0.0, "param4": 0.0, "seq": 1, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527821108, "y": -7056785, diff --git a/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json b/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json index d0ef6a991..1bff5b12f 100644 --- a/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json +++ b/radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json @@ -13,7 +13,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527805690, "y": -7079236, @@ -22,7 +22,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 1, "frame": 3, "command": 22, @@ -40,7 +40,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 2, "frame": 3, "command": 16, @@ -58,7 +58,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 3, "frame": 3, "command": 16, @@ -76,7 +76,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 4, "frame": 3, "command": 16, @@ -94,7 +94,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 5, "frame": 3, "command": 16, @@ -112,7 +112,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 6, "frame": 3, "command": 16, @@ -130,7 +130,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 7, "frame": 3, "command": 21, @@ -159,7 +159,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527814618, "y": -7105708, @@ -177,7 +177,7 @@ "param3": 0.0, "param4": 0.0, "seq": 1, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527810530, "y": -7102918, @@ -195,7 +195,7 @@ "param3": 0.0, "param4": 0.0, "seq": 2, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527800342, "y": -7108390, @@ -213,7 +213,7 @@ "param3": 0.0, "param4": 0.0, "seq": 3, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527818512, "y": -7035434, @@ -231,7 +231,7 @@ "param3": 0.0, "param4": 0.0, "seq": 4, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527830582, "y": -7060110, @@ -249,7 +249,7 @@ "param3": 0.0, "param4": 0.0, "seq": 5, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527825456, "y": -7081568, @@ -267,7 +267,7 @@ "param3": 0.0, "param4": 0.0, "seq": 6, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527796578, "y": -7092163, @@ -285,7 +285,7 @@ "param3": 0.0, "param4": 0.0, "seq": 7, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527801900, "y": -7044017, @@ -303,7 +303,7 @@ "param3": 0.0, "param4": 0.0, "seq": 8, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527828246, "y": -7061076, @@ -321,7 +321,7 @@ "param3": 0.0, "param4": 0.0, "seq": 9, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527818707, "y": -7041549, @@ -339,7 +339,7 @@ "param3": 0.0, "param4": 0.0, "seq": 10, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527814489, "y": -7058179, @@ -357,7 +357,7 @@ "param3": 0.0, "param4": 0.0, "seq": 11, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527821887, "y": -7058072, @@ -375,7 +375,7 @@ "param3": 0.0, "param4": 0.0, "seq": 12, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527826364, "y": -7068908, @@ -395,7 +395,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527810011, "y": -7094872, @@ -413,7 +413,7 @@ "param3": 0.0, "param4": 0.0, "seq": 1, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527821108, "y": -7056785, diff --git a/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json b/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json index 460a0305f..21d225173 100644 --- a/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json +++ b/radio/tests/mission_test_files/test_writeCurrentMission_uploadFenceSuccess_data.json @@ -13,7 +13,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527814618, "y": -7105708, @@ -31,7 +31,7 @@ "param3": 0.0, "param4": 0.0, "seq": 1, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527810530, "y": -7102918, @@ -49,7 +49,7 @@ "param3": 0.0, "param4": 0.0, "seq": 2, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527800342, "y": -7108390, @@ -67,7 +67,7 @@ "param3": 0.0, "param4": 0.0, "seq": 3, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527818512, "y": -7035434, @@ -85,7 +85,7 @@ "param3": 0.0, "param4": 0.0, "seq": 4, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527830582, "y": -7060110, @@ -103,7 +103,7 @@ "param3": 0.0, "param4": 0.0, "seq": 5, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527825456, "y": -7081568, @@ -121,7 +121,7 @@ "param3": 0.0, "param4": 0.0, "seq": 6, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527796578, "y": -7092163, @@ -139,7 +139,7 @@ "param3": 0.0, "param4": 0.0, "seq": 7, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527801900, "y": -7044017, @@ -157,7 +157,7 @@ "param3": 0.0, "param4": 0.0, "seq": 8, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527828246, "y": -7061076, @@ -175,7 +175,7 @@ "param3": 0.0, "param4": 0.0, "seq": 9, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527818707, "y": -7041549, @@ -193,7 +193,7 @@ "param3": 0.0, "param4": 0.0, "seq": 10, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527814489, "y": -7058179, @@ -211,7 +211,7 @@ "param3": 0.0, "param4": 0.0, "seq": 11, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527821887, "y": -7058072, @@ -229,7 +229,7 @@ "param3": 0.0, "param4": 0.0, "seq": 12, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527826364, "y": -7068908, diff --git a/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json b/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json index 1070d0f12..8e91611c9 100644 --- a/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json +++ b/radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json @@ -13,7 +13,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527805690, "y": -7079236, @@ -22,7 +22,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 1, "frame": 3, "command": 22, @@ -40,7 +40,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 2, "frame": 3, "command": 16, @@ -58,7 +58,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 3, "frame": 3, "command": 16, @@ -76,7 +76,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 4, "frame": 3, "command": 16, @@ -94,7 +94,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 5, "frame": 3, "command": 16, @@ -112,7 +112,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 6, "frame": 3, "command": 16, @@ -130,7 +130,7 @@ { "mavpackettype": "MISSION_ITEM_INT", "target_system": 255, - "target_component": 0, + "target_component": 190, "seq": 7, "frame": 3, "command": 21, diff --git a/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json b/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json index 53f2143b8..2ebc37df3 100644 --- a/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json +++ b/radio/tests/mission_test_files/test_writeCurrentMission_uploadRallySuccess_data.json @@ -13,7 +13,7 @@ "param3": 0.0, "param4": 0.0, "seq": 0, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527810011, "y": -7094872, @@ -31,7 +31,7 @@ "param3": 0.0, "param4": 0.0, "seq": 1, - "target_component": 0, + "target_component": 190, "target_system": 255, "x": 527821108, "y": -7056785, diff --git a/radio/tests/test_comPorts.py b/radio/tests/test_comPorts.py index aacfec510..3f27f0243 100644 --- a/radio/tests/test_comPorts.py +++ b/radio/tests/test_comPorts.py @@ -109,7 +109,10 @@ def test_connectToDrone_validConnection() -> None: socketio_client.emit( "connect_to_drone", {"connectionType": connectionType, "port": VALID_DRONE_PORT} ) - assert socketio_client.get_received()[-1]["args"][0] == {"aircraft_type": 2} + assert socketio_client.get_received()[-1]["args"][0] == { + "flight_sw_version": "4.7.0", + "aircraft_type": 2, + } assert droneStatus.drone is not None assert droneStatus.drone.port == VALID_DRONE_PORT assert droneStatus.drone.baud == 57600 @@ -119,7 +122,10 @@ def test_connectToDrone_validConnection() -> None: "connect_to_drone", {"connectionType": connectionType, "port": VALID_DRONE_PORT, "baud": 9600}, ) - assert socketio_client.get_received()[-1]["args"][0] == {"aircraft_type": 2} + assert socketio_client.get_received()[-1]["args"][0] == { + "flight_sw_version": "4.7.0", + "aircraft_type": 2, + } assert droneStatus.drone is not None assert droneStatus.drone.baud == 9600 @@ -170,7 +176,10 @@ def test_disconnectFromDrone() -> None: "connect_to_drone", {"connectionType": connectionType, "port": VALID_DRONE_PORT, "baud": 9600}, ) - assert socketio_client.get_received()[-1]["args"][0] == {"aircraft_type": 2} + assert socketio_client.get_received()[-1]["args"][0] == { + "flight_sw_version": "4.7.0", + "aircraft_type": 2, + } socketio_client.emit("disconnect_from_drone") assert socketio_client.get_received()[0]["name"] == "disconnected_from_drone" diff --git a/radio/tests/test_states.py b/radio/tests/test_states.py index c539a241c..321381805 100644 --- a/radio/tests/test_states.py +++ b/radio/tests/test_states.py @@ -1,17 +1,9 @@ -import time - -import pytest from flask_socketio import SocketIOTestClient from . import falcon_test from .helpers import NoDrone, send_and_recieve -def stream_is_active(msg): - # TODO: THIS DOESNT WORK YAYYYYYYYYYYYYY - return True - - @falcon_test(pass_drone_status=True) def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None: # Failure on no drone connection @@ -50,8 +42,9 @@ def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None: droneStatus.drone.message_listeners = {} - pytest.skip(reason="Issues with parameterController to be fixed in alpha 0.1.8") - socketio_client.emit("set_state", {"state": "params"}) - time.sleep(15) - assert len(socketio_client.get_received()[-1]["args"][0]) == 1400 - assert len(droneStatus.drone.message_listeners) == 0 + # TODO: Sort this out + # pytest.skip(reason="Issues with parameterController to be fixed in alpha 0.1.8") + # socketio_client.emit("set_state", {"state": "params"}) + # time.sleep(15) + # assert len(socketio_client.get_received()[-1]["args"][0]) == 1400 + # assert len(droneStatus.drone.message_listeners) == 1 From 674f1f2a2c21637f96071fec3f39c1678030f580 Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Wed, 29 Oct 2025 20:33:53 +0000 Subject: [PATCH 7/8] Move statustext message listener to states file --- radio/app/drone.py | 4 ---- radio/app/endpoints/states.py | 3 +++ 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/radio/app/drone.py b/radio/app/drone.py index 0c394c957..f64936f92 100644 --- a/radio/app/drone.py +++ b/radio/app/drone.py @@ -30,7 +30,6 @@ getFlightSwVersionString, getVehicleType, sendingCommandLock, - sendMessage, ) # Constants @@ -248,9 +247,6 @@ def __init__( self.setupControllers() - # Always send STATUSTEXT messages - self.addMessageListener("STATUSTEXT", sendMessage) - self.is_listening = True self.startThread() diff --git a/radio/app/endpoints/states.py b/radio/app/endpoints/states.py index 464c1ec61..77a535940 100644 --- a/radio/app/endpoints/states.py +++ b/radio/app/endpoints/states.py @@ -56,6 +56,9 @@ def set_state(data: SetStateType) -> None: droneStatus.drone.logger.info(f"Changing state to {droneStatus.state}") + # Always send STATUSTEXT messages + droneStatus.drone.addMessageListener("STATUSTEXT", sendMessage) + if droneStatus.state == "dashboard": droneStatus.drone.setupDataStreams() for message in message_listeners["dashboard"]: From bbfde50128ab884d9d4a043b6a6f8772355413db Mon Sep 17 00:00:00 2001 From: Kush Makkapati Date: Wed, 29 Oct 2025 20:44:47 +0000 Subject: [PATCH 8/8] Fix states test --- radio/tests/test_states.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/radio/tests/test_states.py b/radio/tests/test_states.py index 321381805..878983804 100644 --- a/radio/tests/test_states.py +++ b/radio/tests/test_states.py @@ -17,6 +17,8 @@ def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None: "message": "Request to endpoint set_state missing value for parameter: state." } + # TODO: These values don't seem right to me, they don't include the STATUSTEXT listener? + # Success on changing state to dashboard socketio_client.emit("set_state", {"state": "dashboard"}) assert len(socketio_client.get_received()) == 0 @@ -26,19 +28,19 @@ def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None: socketio_client.emit("set_state", {"state": "graphs"}) assert len(socketio_client.get_received()) == 0 - assert len(droneStatus.drone.message_listeners) == 3 + assert len(droneStatus.drone.message_listeners) == 4 droneStatus.drone.message_listeners = {} socketio_client.emit("set_state", {"state": "config.flight_modes"}) assert len(socketio_client.get_received()) == 0 - assert len(droneStatus.drone.message_listeners) == 2 + assert len(droneStatus.drone.message_listeners) == 3 droneStatus.drone.message_listeners = {} socketio_client.emit("set_state", {"state": "config.rc"}) assert len(socketio_client.get_received()) == 0 - assert len(droneStatus.drone.message_listeners) == 2 + assert len(droneStatus.drone.message_listeners) == 3 droneStatus.drone.message_listeners = {}