Video: Send VIDEO_STREAM_INFORMATION to GCS

Addresses feature request/issue stephendade#169

Enables Rpanion to respond to send COMMAND_ACK and VIDEO_STREAM_INFORMATION messages via MAVLink in response to a MAV_CMD_REQUEST_MESSAGE.

Adds a Select dropdown to the Video page to select which IP will be transmitted as part of the URI that is sent in the MAVLink message.

mavlink/mavManager.js

@@ -100,8 +100,16 @@ class mavManager {
 
         // send off initial messages
         this.sendVersionRequest()
+
+        // Respond to MavLink commands that are targeted to the companion computer
+      } else if ( data.targetSystem === this.targetSystem && 
+                  data.targetComponent == minimal.MavComponent.ONBOARD_COMPUTER &&
+                  packet.header.msgid === common.CommandLong.MSG_ID
+                ){
+                  console.log("Received CommandLong addressed to onboard computer")
+
       } else if (this.targetSystem !== packet.header.sysid) {
-        // don't use packets from other systems or components in Rpanion-server
+         //don't use packets from other systems or components in Rpanion-server
         return
       }
 
@@ -266,6 +274,22 @@ class mavManager {
     this.sendData(heartbeatMessage, component)
   }
 
+  sendCommandAck (commandReceived, commandResult = 0, targetSystem = 255, targetComponent = minimal.MavComponent.MISSION_PLANNER) {
+
+    // create a CommandAck packet
+    const commandAck = new common.CommandAck()
+
+    commandAck.command = commandReceived
+    // result = 0 for "accepted and executed"
+    commandAck.result = commandResult
+    // resultParam2 is for optional additional result information. Not currently used by rpanion.
+    commandAck.resultParam2 = 0;
+    commandAck.targetSystem = targetSystem
+    commandAck.targetComponent = targetComponent
+
+    this.sendData(commandAck)
+  }
+
   sendReboot () {
     // create a reboot packet
     const command = new common.PreflightRebootShutdownCommand(this.targetSystem, this.targetComponent)

mavlink/mavManager.test.js

@@ -137,6 +137,28 @@ describe('MAVLink Functions', function () {
     })
   })
 
+  it('#commandAckSend()', function (done) {
+    const m = new mavManager(2, '127.0.0.1', 15000)
+    const udpStream = udp.createSocket('udp4')
+
+    m.eventEmitter.on('linkready', (info) => {
+      m.sendCommandAck()
+    })
+
+    udpStream.on('message', (msg, rinfo) => {
+      msg.should.eql(Buffer.from([253, 09, 00, 00, 00, 00, 191, 77, 00, 00, 00, 00, 00, 00, 00, 00, 00, 00, 255, 197, 27 ]))
+      m.close()
+      udpStream.close()
+      done()
+    })
+
+    udpStream.send(Buffer.from([0xfd, 0x06]), 15000, '127.0.0.1', (error) => {
+      if (error) {
+        console.error(error)
+      }
+    })
+  })
+
   it('#perfTest()', function () {
     // how fast can we process packets and send out over udp?
     const m = new mavManager(2, '127.0.0.1', 15000)

server/index.js

@@ -4,6 +4,7 @@ const compression = require('compression')
 const bodyParser = require('body-parser')
 const pino = require('express-pino-logger')()
 const process = require('process')
+const { common } = require('node-mavlink')
 
 const networkManager = require('./networkManager')
 const aboutPage = require('./aboutInfo')
@@ -50,7 +51,7 @@ settings.init({
 
 const vManager = new videoStream(settings, winston)
 const fcManager = new fcManagerClass(settings, winston)
-const logManager = new flightLogger(winston)
+const logManager = new flightLogger(settings, winston)
 const ntripClient = new ntrip(settings, winston)
 const cloud = new cloudManager(settings)
 const logConversion = new logConversionManager(settings)
@@ -80,20 +81,45 @@ ntripClient.eventEmitter.on('rtcmpacket', (msg, seq) => {
   }
 })
 
+// Got a VIDEO_STREAM_INFORMATION message, send to flight controller
+// to do: get target system and component from vManager
+vManager.eventEmitter.on('videostreaminfo', (msg, senderSysId, senderCompId) => {
+  try {
+    if (fcManager.m) {
+      fcManager.m.sendCommandAck(common.VideoStreamInformation.MSG_ID, 0, senderSysId, senderCompId)
+      fcManager.m.sendData(msg)
+    }
+  } catch (err) {
+    console.log(err)
+  }
+})
+
 // Connecting the flight controller datastream to the logger
-// and ntrip
+// and ntrip and video
 fcManager.eventEmitter.on('gotMessage', (packet, data) => {
   try {
+    logManager.writetlog(packet, data)
     ntripClient.onMavPacket(packet, data)
+    vManager.onMavPacket(packet, data)
   } catch (err) {
     console.log(err)
   }
 })
 
 fcManager.eventEmitter.on('newLink', () => {
+  try {
+    logManager.newtlog()
+  } catch (err) {
+    console.log(err)
+  }
 })
 
 fcManager.eventEmitter.on('stopLink', () => {
+  try {
+    logManager.stoptlog()
+  } catch (err) {
+    console.log(err)
+  }
 })
 
 fcManager.eventEmitter.on('armed', () => {
@@ -357,9 +383,9 @@ app.use('/logdownload', express.static(path.join(__dirname, '..', '/flightlogs')
 app.use('/rplogs', express.static(path.join(__dirname, '..', '/logs')))
 
 app.get('/api/logfiles', (req, res) => {
-  logManager.getLogs((err, tlogs, binlogs, kmzlogs) => {
+  logManager.getLogs((err, tlogs, binlogs, kmzlogs, activeLogging) => {
     res.setHeader('Content-Type', 'application/json')
-    res.send(JSON.stringify({ TlogFiles: tlogs, BinlogFiles: binlogs, KMZlogFiles: kmzlogs, url: req.protocol + '://' + req.headers.host }))
+    res.send(JSON.stringify({ enablelogging: activeLogging, TlogFiles: tlogs, BinlogFiles: binlogs, KMZlogFiles: kmzlogs, url: req.protocol + '://' + req.headers.host, logStatus: logManager.getStatus() }))
   })
 })
 
@@ -375,6 +401,31 @@ app.post('/api/deletelogfiles', [check('logtype').isIn(['tlog', 'binlog', 'kmzlo
   res.send(JSON.stringify({}))
 })
 
+app.get('/api/newlogfile', (req, res) => {
+  logManager.newtlog()
+  // console.log(logConversion.tlogfilename)
+  res.setHeader('Content-Type', 'application/json')
+  res.send(JSON.stringify({}))
+})
+
+app.get('/api/tlogfilename', (req, res) => {
+  // console.log(logManager.activeFileTlog)
+  res.setHeader('Content-Type', 'application/json')
+  res.send(JSON.stringify({ tlogfilename: logManager.activeFileTlog }))
+})
+
+app.post('/api/logenable', [check('enable').isBoolean()], function (req, res) {
+  // User wants to enable/disable logging
+  const errors = validationResult(req)
+  if (!errors.isEmpty()) {
+    winston.error('Bad POST vars in /api/logenable', { message: JSON.stringify(errors.array()) })
+    return res.status(422).json({ error: JSON.stringify(errors.array()) })
+  }
+
+  res.setHeader('Content-Type', 'application/json')
+  res.send(JSON.stringify({ enablelogging: logManager.setLogging(req.body.enable) }))
+})
+
 app.get('/api/softwareinfo', (req, res) => {
   aboutPage.getSoftwareInfo((OSV, NodeV, RpanionV, hostname, err) => {
     if (!err) {
@@ -391,10 +442,11 @@ app.get('/api/softwareinfo', (req, res) => {
 
 app.get('/api/videodevices', (req, res) => {
   vManager.populateAddresses()
-  vManager.getVideoDevices((err, devices, active, seldevice, selRes, selRot, selbitrate, selfps, SeluseUDP, SeluseUDPIP, SeluseUDPPort, timestamp, fps, FPSMax, vidres) => {
+  vManager.getVideoDevices((err, devices, active, seldevice, selRes, selRot, selbitrate, selfps, SeluseUDP, SeluseUDPIP, SeluseUDPPort, timestamp, fps, FPSMax, vidres, selMavURI) => {
     if (!err) {
       res.setHeader('Content-Type', 'application/json')
       res.send(JSON.stringify({
+        ifaces: vManager.ifaces,
         dev: devices,
         vidDeviceSelected: seldevice,
         vidres: vidres,
@@ -410,7 +462,8 @@ app.get('/api/videodevices', (req, res) => {
         timestamp,
         error: null,
         fps: fps,
-        FPSMax: FPSMax
+        FPSMax: FPSMax,
+        mavStreamSelected: vManager.selMavURI
       }))
     } else {
       res.setHeader('Content-Type', 'application/json')
@@ -453,7 +506,7 @@ app.get('/api/FCOutputs', (req, res) => {
 
 app.get('/api/FCDetails', (req, res) => {
   res.setHeader('Content-Type', 'application/json')
-  fcManager.getSerialDevices((err, devices, bauds, seldevice, selbaud, mavers, selmav, active, enableHeartbeat, enableTCP, enableUDPB, UDPBPort, enableDSRequest, tlogging) => {
+  fcManager.getSerialDevices((err, devices, bauds, seldevice, selbaud, mavers, selmav, active, enableHeartbeat, enableTCP, enableUDPB, UDPBPort, enableDSRequest) => {
     // hacky way to pass through the
     if (!err) {
       console.log('Sending')
@@ -470,8 +523,7 @@ app.get('/api/FCDetails', (req, res) => {
         enableTCP,
         enableUDPB,
         UDPBPort,
-        enableDSRequest,
-        tlogging
+        enableDSRequest
       }))
     } else {
       console.log(devices)
@@ -488,8 +540,7 @@ app.get('/api/FCDetails', (req, res) => {
         enableTCP,
         enableUDPB,
         UDPBPort,
-        enableDSRequest,
-        tlogging
+        enableDSRequest
       }))
       winston.error('Error in /api/FCDetails ', { message: err })
     }
@@ -506,15 +557,15 @@ app.post('/api/updatemaster', function (req, res) {
   aboutPage.updateRS(io)
 })
 
-app.post('/api/FCModify', [check('device').isJSON(), check('baud').isJSON(), check('mavversion').isJSON(), check('enableHeartbeat').isBoolean(), check('enableTCP').isBoolean(), check('enableUDPB').isBoolean(), check('UDPBPort').isPort(), check('enableDSRequest').isBoolean(), check('tlogging').isBoolean()], function (req, res) {
+app.post('/api/FCModify', [check('device').isJSON(), check('baud').isJSON(), check('mavversion').isJSON(), check('enableHeartbeat').isBoolean(), check('enableTCP').isBoolean(), check('enableUDPB').isBoolean(), check('UDPBPort').isPort(), check('enableDSRequest').isBoolean()], function (req, res) {
   // User wants to start/stop FC telemetry
   const errors = validationResult(req)
   if (!errors.isEmpty()) {
     winston.error('Bad POST vars in /api/FCModify', { message: JSON.stringify(errors.array()) })
     return res.status(422).json({ error: JSON.stringify(errors.array()) })
   }
 
-  fcManager.startStopTelemetry(JSON.parse(req.body.device), JSON.parse(req.body.baud), JSON.parse(req.body.mavversion), req.body.enableHeartbeat, req.body.enableTCP, req.body.enableUDPB, req.body.UDPBPort, req.body.enableDSRequest, req.body.tlogging, (err, isSuccess) => {
+  fcManager.startStopTelemetry(JSON.parse(req.body.device), JSON.parse(req.body.baud), JSON.parse(req.body.mavversion), req.body.enableHeartbeat, req.body.enableTCP, req.body.enableUDPB, req.body.UDPBPort, req.body.enableDSRequest, (err, isSuccess) => {
     if (!err) {
       res.setHeader('Content-Type', 'application/json')
       // console.log(isSuccess);
@@ -671,7 +722,7 @@ app.post('/api/startstopvideo', [check('active').isBoolean(),
     return res.status(422).json(ret)
   }
   // user wants to start/stop video streaming
-  vManager.startStopStreaming(req.body.active, req.body.device, req.body.height, req.body.width, req.body.format, req.body.rotation, req.body.bitrate, req.body.fps, req.body.useUDP, req.body.useUDPIP, req.body.useUDPPort, req.body.useTimestamp, (err, status, addresses) => {
+  vManager.startStopStreaming(req.body.active, req.body.device, req.body.height, req.body.width, req.body.format, req.body.rotation, req.body.bitrate, req.body.fps, req.body.useUDP, req.body.useUDPIP, req.body.useUDPPort, req.body.useTimestamp, req.body.mavStreamSelected, (err, status, addresses) => {
     if (!err) {
       res.setHeader('Content-Type', 'application/json')
       const ret = { streamingStatus: status, streamAddresses: addresses }