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bluerobotics · Sep 4, 2023 · 7437c30 · 7437c30
1 parent 6a398a2
commit 7437c30
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Showing 6 changed files with 232 additions and 83 deletions.
diff --git a/src/libs/joystick/protocols.ts b/src/libs/joystick/protocols.ts
@@ -141,7 +141,7 @@ export enum MAVLinkAxis {
   R = 'r',
 }
 const mavlinkAvailableAxes = Object.values(MAVLinkAxis)
-const mavlinkAvailableButtons = sequentialArray(16)
+export const mavlinkAvailableButtons = sequentialArray(16)
 
 const mavlinkAxesLimits = [-1000, 1000]
 export const protocolAxesLimits = (protocol: JoystickProtocol): number[] => {

diff --git a/src/libs/vehicle/ardupilot/ardupilot.ts b/src/libs/vehicle/ardupilot/ardupilot.ts
@@ -14,6 +14,7 @@ import {
   MavMissionResult,
   MavMissionType,
   MavModeFlag,
+  MavParamType,
   MavState,
   MavType,
 } from '@/libs/connection/m2r/messages/mavlink2rest-enum'
@@ -490,6 +491,31 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
     this.write(paramRequestMessage)
   }
 
+  /**
+   * Request parameters list from vehicle
+   * @param id
+   * @param value
+   * @param type
+   */
+  setParameter(id: string, value: number, type?: MavParamType): void {
+    const param_name = [...id]
+    while (param_name.length < 16) {
+      param_name.push('\0')
+    }
+    const paramSetMessage: Message.ParamSet = {
+      type: MAVLinkType.PARAM_SET,
+      target_system: 0,
+      target_component: 0,
+      param_id: param_name,
+      param_value: value,
+      param_type: {
+        type: type ?? MavParamType.MAV_PARAM_TYPE_UINT8,
+      },
+    }
+    console.log(paramSetMessage)
+    this.write(paramSetMessage)
+  }
+
   /**
    * Send number of mission items that will be uploaded next
    * @param { number } itemsCount Number of mission items that will be sent

diff --git a/src/stores/controller.ts b/src/stores/controller.ts
@@ -16,8 +16,8 @@ export const useControllerStore = defineStore('controller', () => {
   const updateCallbacks = ref<controllerUpdateCallback[]>([])
   const protocolMapping = useStorage('cockpit-v0.0.7-protocol-mapping', cockpitStandardToProtocols)
   const cockpitStdMappings = useStorage('cockpit-standard-mappings', availableGamepadToCockpitMaps)
-  const availableAxes = allAvailableAxes
-  const availableButtons = allAvailableButtons
+  const availableProtocolAxesFunctions = allAvailableAxes
+  const availableProtocolButtonFunctions = allAvailableButtons
   const allPrettyButtonNames = ref<InputWithPrettyName[]>([])
   const enableForwarding = ref(true)
 
@@ -100,8 +100,8 @@ export const useControllerStore = defineStore('controller', () => {
     joysticks,
     protocolMapping,
     cockpitStdMappings,
-    availableAxes,
-    availableButtons,
+    availableProtocolAxesFunctions,
+    availableProtocolButtonFunctions,
     allPrettyButtonNames,
     downloadJoystickProfile,
     loadJoystickProfile,

diff --git a/src/stores/mainVehicle.ts b/src/stores/mainVehicle.ts
@@ -114,6 +114,8 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
   const powerSupply: PowerSupply = reactive({} as PowerSupply)
   const velocity: Velocity = reactive({} as Velocity)
   const parametersTable = reactive({})
+  // eslint-disable-next-line jsdoc/require-jsdoc
+  const buttonParameterTable = reactive<{ title: string; value: number }[]>([])
   const currentParameters = reactive({})
   const mainVehicle = ref<ArduPilot | undefined>(undefined)
   const isArmed = ref<boolean | undefined>(undefined)
@@ -150,6 +152,13 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     mainVehicle.value?.disarm()
   }
 
+  /**
+   * Set parameter in the vehicle
+   */
+  function setParameter(id: string, value: number, type?: string): void {
+    mainVehicle.value?.setParameter(id, value, type)
+  }
+
   /**
    * Send manual control message
    * @param {ProtocolControllerState} controllerState Current state of the controller
@@ -408,22 +417,22 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
   const updateMavlinkButtonsPrettyNames = (): void => {
     if (!currentParameters || !parametersTable) return
     const newMavlinkButtonsNames: InputWithPrettyName[] = []
+    buttonParameterTable.splice(0)
     // @ts-ignore: This type is huge. Needs refactoring typing here.
     if (parametersTable['BTN0_FUNCTION'] && parametersTable['BTN0_FUNCTION']['Values']) {
-      const parameterValues: { title: string, value: number }[] = [] // eslint-disable-line
       // @ts-ignore: This type is huge. Needs refactoring typing here.
       Object.entries(parametersTable['BTN0_FUNCTION']['Values']).forEach((param) => {
         const rawText = param[1] as string
-        const formatedText = (rawText.charAt(0).toUpperCase() + rawText.slice(1)).replace(new RegExp('_', 'g'), ' ')
-        parameterValues.push({ title: formatedText as string, value: Number(param[0]) })
+        // const formatedText = (rawText.charAt(0).toUpperCase() + rawText.slice(1)).replace(new RegExp('_', 'g'), ' ')
+        buttonParameterTable.push({ title: rawText as string, value: Number(param[0]) })
       })
       Object.entries(currentParameters).forEach((param) => {
         if (!param[0].startsWith('BTN') || !param[0].endsWith('_FUNCTION')) return
-        const button = Number(param[0].replace('BTN', '').replace('_FUNCTION', ''))
-        const functionName = parameterValues.find((p) => p.value === param[1])?.title
+        const buttonId = Number(param[0].replace('BTN', '').replace('_FUNCTION', ''))
+        const functionName = buttonParameterTable.find((p) => p.value === param[1])?.title
         if (functionName === undefined) return
         newMavlinkButtonsNames.push({
-          input: { protocol: JoystickProtocol.MAVLink, value: button },
+          input: { protocol: JoystickProtocol.MAVLink, value: buttonId },
           prettyName: functionName,
         })
       })
@@ -444,6 +453,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     setFlightMode,
     sendGcsHeartbeat,
     requestParametersList,
+    setParameter,
     fetchMission,
     uploadMission,
     clearMissions,
@@ -469,6 +479,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     icon,
     parametersTable,
     currentParameters,
+    buttonParameterTable,
     configurationPages,
     rtcConfiguration,
     genericVariables,

diff --git a/src/types/joystick.ts b/src/types/joystick.ts
@@ -7,6 +7,7 @@ import { JoystickModel } from '@/libs/joystick/manager'
 export enum JoystickProtocol {
   MAVLink = 'mavlink',
   CockpitAction = 'cockpit-action',
+  Other = 'other',
 }
 
 /**