15678546196

Committed 16 Jun 2025 10:38AM UTC coverage: 35.894% (+0.2%) from 35.71%

Build # 15678546196

Build Type

Pull #288

github

Committed by

web-flow

Commit Message

Merge 706cb0516 into c16840c55

Pull Request Pull Request #288: Deb packaging

Run Details

272 of 996 branches covered (27.31%)

Branch coverage included in aggregate %.

35 of 155 new or added lines in 12 files covered. (22.58%)

19 existing lines in 10 files now uncovered.

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57.4

/server/flightController.js

const { autoDetect } = require('@serialport/bindings-cpp')
const fs = require('fs')
const events = require('events')
const path = require('path')
const appRoot = require('app-root-path')
const { spawn, spawnSync } = require('child_process')
const si = require('systeminformation')

const mavManager = require('../mavlink/mavManager.js')
const logpaths = require('./paths.js')

function isPi () {
  let cpuInfo = ''
  try {
    cpuInfo = fs.readFileSync('/proc/device-tree/compatible', { encoding: 'utf8' })
  } catch (e) {
    // if this fails, this is probably not a pi
    return false
  }

  const model = cpuInfo
    .split(',')
    .filter(line => line.length > 0)

  if (!model || model.length === 0) {
    return false
  }

  return model[0] === 'raspberrypi'
}

class FCDetails {
  constructor (settings) {
    // if the device was successfully opend and got packets
    this.previousConnection = false

    // all detected serial ports and baud rates
    this.serialDevices = []
    this.baudRates = [{ value: 9600, label: '9600' },
      { value: 19200, label: '19200' },
      { value: 38400, label: '38400' },
      { value: 57600, label: '57600' },
      { value: 111100, label: '111100' },
      { value: 115200, label: '115200' },
      { value: 230400, label: '230400' },
      { value: 256000, label: '256000' },
      { value: 460800, label: '460800' },
      { value: 500000, label: '500000' },
      { value: 921600, label: '921600' },
      { value: 1500000, label: '1500000' }]
    this.mavlinkVersions = [{ value: 1, label: '1.0' },
      { value: 2, label: '2.0' }]
    // JSON of active device (port and baud and mavversion). User selected
    // null if user selected no link (or no serial port of that name)
    this.activeDevice = null

    // mavlink-router process
    this.router = null

    // the mavlink manager object
    this.m = null

    // For sending events outside of object
    this.eventEmitter = new events.EventEmitter()

    // Interval to check connection status and re-connect
    // if required
    this.intervalObj = null

    // UDP Outputs
    this.UDPoutputs = []

    // Send out MAVLink heartbeat packets?
    this.enableHeartbeat = false
  
    // Use TCP output?
    this.enableTCP = false

    // Use UDP Broadcast?
    this.enableUDPB = true
    this.UDPBPort = 14550

    // Send datastream requests to flight controller?
    this.enableDSRequest = false

    // Current binlog via mavlink-router
    this.binlog = null

    this.tlogging = false

    // load settings
    this.settings = settings
    this.activeDevice = this.settings.value('flightcontroller.activeDevice', null)
    this.UDPoutputs = this.settings.value('flightcontroller.outputs', [])
    this.enableHeartbeat = this.settings.value('flightcontroller.enableHeartbeat', false)
    this.enableTCP = this.settings.value('flightcontroller.enableTCP', false)
    this.enableUDPB = this.settings.value('flightcontroller.enableUDPB', true)
    this.UDPBPort = this.settings.value('flightcontroller.UDPBPort', 14550)
    this.enableDSRequest = this.settings.value('flightcontroller.enableDSRequest', false)
    this.tlogging = this.settings.value('flightcontroller.tlogging', false)

    if (this.activeDevice !== null) {
      // restart link if saved serial device is found
      let found = false
      this.getSerialDevices((err, devices) => {
        for (let i = 0, len = devices.length; i < len; i++) {
          if (this.activeDevice.serial.value === devices[i].value) {
            found = true
            this.startLink((err) => {
              if (err) {
                console.log("Can't open found FC " + this.activeDevice.serial.value + ', resetting link')
                this.activeDevice = null
              }
              this.startInterval()
            })
            break
          }
        }
        if (!found) {
          console.log("Can't find saved FC, resetting")
          this.activeDevice = null
        }
      })
    }
  }

  validMavlinkRouter () {
    // check mavlink-router is installed
    const ls = spawnSync('which', ['mavlink-routerd'])
    console.log(ls.stdout.toString())
    if (ls.stdout.toString().trim() == '') {
      return false
    } else {
      return true
    }
  }

  isModemManagerInstalled () {
    // check ModemManager is installed
    const ls = spawnSync('which', ['ModemManager'])
    console.log(ls.stdout.toString())
    if (ls.stdout.toString().includes('ModemManager')) {
      return true
    } else {
      return false
    }
  }

  getUDPOutputs () {
    // get list of current UDP outputs
    const ret = []
    for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {
      ret.push({ IPPort: this.UDPoutputs[i].IP + ':' + this.UDPoutputs[i].port })
    }
    return ret
  }

  addUDPOutput (newIP, newPort) {
    // add a new udp output, if not already in
    // check if this ip:port is already in the list
    for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {
      if (this.UDPoutputs[i].IP === newIP && this.UDPoutputs[i].port === newPort) {
        return this.getUDPOutputs()
      }
    }

    // check that it's not the internal 127.0.0.1:14540
    if (newIP === '127.0.0.1' && newPort === 14540) {
      return this.getUDPOutputs()
    }

    // add it in
    this.UDPoutputs.push({ IP: newIP, port: newPort })
    console.log('Added UDP Output ' + newIP + ':' + newPort)

    // restart mavlink-router, if link active
    if (this.m) {
      this.closeLink(() => {
        this.startLink((err) => {
          if (err) {
            console.log(err)
          }
        })
      })
    }

    // try to save. Will be invalid if running under test runner
    try {
      this.saveSerialSettings()
    } catch (e) {
      console.log(e)
    }

    return this.getUDPOutputs()
  }

  removeUDPOutput (remIP, remPort) {
    // remove new udp output

    // check that it's not the internal 127.0.0.1:14540
    if (remIP === '127.0.0.1' && remPort === 14540) {
      return this.getUDPOutputs()
    }

    // check if this ip:port is already in the list
    for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {
      if (this.UDPoutputs[i].IP === remIP && this.UDPoutputs[i].port === remPort) {
        // and remove
        this.UDPoutputs.splice(i, 1)
        console.log('Removed UDP Output ' + remIP + ':' + remPort)

        // restart mavlink-router, if link active
        if (this.m) {
          this.closeLink(() => {
            this.startLink((err) => {
              if (err) {
                console.log(err)
              }
            })
          })
        }

        // try to save. Will be invalid if running under test runner
        try {
          this.saveSerialSettings()
        } catch (e) {
          console.log(e)
        }

        return this.getUDPOutputs()
      }
    }

    return this.getUDPOutputs()
  }

  getSystemStatus () {
    // get the system status
    if (this.m !== null) {
      return {
        numpackets: this.m.statusNumRxPackets,
        FW: this.m.autopilotFromID(),
        vehType: this.m.vehicleFromID(),
        conStatus: this.m.conStatusStr(),
        statusText: this.m.statusText,
        byteRate: this.m.statusBytesPerSec.avgBytesSec,
        fcVersion: this.m.fcVersion
      }
    } else {
      return {
        numpackets: 0,
        FW: '',
        vehType: '',
        conStatus: 'Not connected',
        statusText: '',
        byteRate: 0,
        fcVersion: ''
      }
    }
  }

  rebootFC () {
    // command the flight controller to reboot
    if (this.m !== null) {
      console.log('Rebooting FC')
      this.m.sendReboot()
    }
  }

  startBinLogging () {
    // command the flight controller to start streaming bin log
    if (this.m !== null) {
      console.log('Bin log start request')
      this.m.sendBinStreamRequest()
    }
  }

  stopBinLogging () {
    // command the flight controller to stop streaming bin log
    if (this.m !== null) {
      console.log('Bin log stop request')
      this.m.sendBinStreamRequestStop()
    }
  }

  startLink (callback) {
    // start the serial link
    console.log('Opening Link ' + this.activeDevice.serial.value + ' @ ' + this.activeDevice.baud.value + ', MAV v' + this.activeDevice.mavversion.value)
    // this.outputs.push({ IP: newIP, port: newPort })

    // build up the commandline for mavlink-router
    const cmd = ['-e', '127.0.0.1:14540', '--tcp-port']
    if (this.enableTCP === true) {
      cmd.push('5760')
    } else {
      cmd.push('0')
    }
    for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {
      cmd.push('-e')
      cmd.push(this.UDPoutputs[i].IP + ':' + this.UDPoutputs[i].port)
    }
    cmd.push('--log')
    cmd.push(logpaths.flightsLogsDir)
    if (this.tlogging === true) {
      cmd.push('--telemetry-log')
    }
    if (this.enableUDPB === true) {
      cmd.push('0.0.0.0:' + this.UDPBPort)
    }
    cmd.push(this.activeDevice.serial.value + ':' + this.activeDevice.baud.value)
    console.log(cmd)

    // check mavlink-router exists
    if (!this.validMavlinkRouter()) {
      console.log('Could not find mavlink-routerd')
      return callback('Could not find mavlink-routerd', false)
    }

    // start mavlink-router
    this.router = spawn('mavlink-routerd', cmd)
    this.router.stdout.on('data', (data) => {
      console.log(`stdout: ${data}`)
    })

    this.router.stderr.on('data', (data) => {
      console.error(`stderr: ${data}`)
      if (data.toString().includes('Logging target') && data.toString().includes('.bin')) {
        // remove old log, if it exists and is >60kB
        try {
          if (this.binlog !== null) {
            const fileStat = fs.lstatSync(this.binlog)
            if (Math.round(fileStat.size / 1024) < 60) {
              fs.unlinkSync(this.binlog)
            }
          }
        } catch (err) {
          console.log(err)
        }
        const res = data.toString().split(' ')
        const curLog = (res[res.length - 1]).trim()
        this.binlog = path.join(logpaths.flightsLogsDir, curLog)
        console.log('Current log is: ' + this.binlog)
      }
    })

    this.router.on('close', (code) => {
      console.log(`child process exited with code ${code}`)
      console.log('Closed Router')
      this.eventEmitter.emit('stopLink')
    })

    console.log('Opened Router')

    // only restart the mavlink processor if it's a new link,
    // not a reconnect attempt
    if (this.m === null) {
      this.m = new mavManager(this.activeDevice.mavversion.value, '127.0.0.1', 14540, this.enableDSRequest)
      this.m.eventEmitter.on('gotMessage', (packet, data) => {
        // got valid message - send on to attached classes
        this.previousConnection = true
        this.eventEmitter.emit('gotMessage', packet, data)
      })
    }

    // arming events - just pass them on
    this.m.eventEmitter.on('armed', () => {
      this.eventEmitter.emit('armed')
    })
    this.m.eventEmitter.on('disarmed', () => {
      this.eventEmitter.emit('disarmed')
    })
    this.eventEmitter.emit('newLink')

    return callback(null, true)
  }

  closeLink (callback) {
    // stop the serial link
    if (this.router && this.router.exitCode === null) {
      this.router.kill('SIGINT')
      console.log('Trying to close router')
      return callback(null)
    } else {
      console.log('Already Closed Router')
      this.eventEmitter.emit('stopLink')
      return callback(null)
    }
  }

  async getSerialDevices (callback) {
    // get all serial devices
    this.serialDevices = []
    let retError = null

    const Binding = autoDetect()
    const ports = await Binding.list()

    for (let i = 0, len = ports.length; i < len; i++) {
      if (ports[i].pnpId !== undefined) {
        // usb-ArduPilot_Pixhawk1-1M_32002A000847323433353231-if00
        // console.log("Port: ", ports[i].pnpID);
        let namePorts = ''
        if (ports[i].pnpId.split('_').length > 2) {
          namePorts = ports[i].pnpId.split('_')[1] + ' (' + ports[i].path + ')'
        } else {
          namePorts = ports[i].manufacturer + ' (' + ports[i].path + ')'
        }
        // console.log("Port: ", ports[i].pnpID);
        this.serialDevices.push({ value: ports[i].path, label: namePorts, pnpId: ports[i].pnpId })
      } else if (ports[i].manufacturer !== undefined) {
        // on recent RasPiOS, the pnpID is undefined :(
        const nameports = ports[i].manufacturer + ' (' + ports[i].path + ')'
        this.serialDevices.push({ value: ports[i].path, label: nameports, pnpId: nameports })
      }
    }
    // if the serial console or modemmanager are active on the Pi, return error
    if (this.isModemManagerInstalled()) {
      retError = Error('The ModemManager package is installed. This must be uninstalled (via sudo apt remove modemmanager), due to conflicts with serial ports')
    }
    if (fs.existsSync('/boot/cmdline.txt') && isPi()) {
      const data = fs.readFileSync('/boot/cmdline.txt', { encoding: 'utf8', flag: 'r' })
      if (data.includes('console=serial0')) {
        retError = Error('Serial console is active on /dev/serial0. Use raspi-config to deactivate it')
      }
    }
    // for the Ras Pi's inbuilt UART
    if (fs.existsSync('/dev/serial0') && isPi()) {
      this.serialDevices.push({ value: '/dev/serial0', label: '/dev/serial0', pnpId: '/dev/serial0' })
    }
    if (fs.existsSync('/dev/ttyAMA0') && isPi()) {
      //Pi5 uses a different UART name. See https://forums.raspberrypi.com/viewtopic.php?t=359132
      this.serialDevices.push({ value: '/dev/ttyAMA0', label: '/dev/ttyAMA0', pnpId: '/dev/ttyAMA0' })
    }
    if (fs.existsSync('/dev/ttyAMA1') && isPi()) {
      this.serialDevices.push({ value: '/dev/ttyAMA1', label: '/dev/ttyAMA1', pnpId: '/dev/ttyAMA1' })
    }
    if (fs.existsSync('/dev/ttyAMA2') && isPi()) {
      this.serialDevices.push({ value: '/dev/ttyAMA2', label: '/dev/ttyAMA2', pnpId: '/dev/ttyAMA2' })
    }
    if (fs.existsSync('/dev/ttyAMA3') && isPi()) {
      this.serialDevices.push({ value: '/dev/ttyAMA3', label: '/dev/ttyAMA3', pnpId: '/dev/ttyAMA3' })
    }
    if (fs.existsSync('/dev/ttyAMA4') && isPi()) {
      this.serialDevices.push({ value: '/dev/ttyAMA4', label: '/dev/ttyAMA4', pnpId: '/dev/ttyAMA4' })
    }
    // rpi uart has different name under Ubuntu
    const data = await si.osInfo()
    if (data.distro.toString().includes('Ubuntu') && fs.existsSync('/dev/ttyS0') && isPi()) {
      // console.log("Running Ubuntu")
      this.serialDevices.push({ value: '/dev/ttyS0', label: '/dev/ttyS0', pnpId: '/dev/ttyS0' })
    }
    // jetson serial ports
    if (fs.existsSync('/dev/ttyTHS1')) {
      this.serialDevices.push({ value: '/dev/ttyTHS1', label: '/dev/ttyTHS1', pnpId: '/dev/ttyTHS1' })
    }
    if (fs.existsSync('/dev/ttyTHS2')) {
      this.serialDevices.push({ value: '/dev/ttyTHS2', label: '/dev/ttyTHS2', pnpId: '/dev/ttyTHS2' })
    }
    if (fs.existsSync('/dev/ttyTHS3')) {
      this.serialDevices.push({ value: '/dev/ttyTHS3', label: '/dev/ttyTHS3', pnpId: '/dev/ttyTHS3' })
    }

    // has the active device been disconnected?
    if (this.port) {
      console.log('Lost active device')
      // this.active = false;
      this.m.close()
      this.m = null
    }
    // set the active device as selected
    if (this.activeDevice) {
      return callback(retError, this.serialDevices, this.baudRates, this.activeDevice.serial, this.activeDevice.baud, this.mavlinkVersions, this.activeDevice.mavversion, true, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging)
    } else if (this.serialDevices.length > 0) {
      return callback(retError, this.serialDevices, this.baudRates, this.serialDevices[0], this.baudRates[3], this.mavlinkVersions, this.mavlinkVersions[1], false, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging)
    } else {
      return callback(retError, this.serialDevices, this.baudRates, [], this.baudRates[3], this.mavlinkVersions, this.mavlinkVersions[1], false, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging)
    }
  }

  startInterval () {
    // start the 1-sec loop checking for disconnects
    this.intervalObj = setInterval(() => {
    
    // Send heartbeats, if they are enabled
    if(this.enableHeartbeat){
      this.m.sendHeartbeat()
    }
      // check for timeouts in serial link (ie disconnected cable or reboot)
      if (this.m && this.m.conStatusInt() === -1) {
        console.log('Trying to reconnect FC...')
        this.closeLink(() => {
          this.startLink((err) => {
            if (err) {
              console.log(err)
            } else {
              // DS request is in this.m.restart()
              this.m.restart()
            }
          })
        })
      }
    }, 1000)
  }

  startStopTelemetry (device, baud, mavversion, enableHeartbeat, enableTCP, enableUDPB, UDPBPort, enableDSRequest, tlogging, callback) {
    // user wants to start or stop telemetry
    // callback is (err, isSuccessful)

    this.enableHeartbeat = enableHeartbeat
    this.enableTCP = enableTCP
    this.enableUDPB = enableUDPB
    this.UDPBPort = UDPBPort
    this.enableDSRequest = enableDSRequest
    this.tlogging = tlogging

    if (this.m) {
      this.m.enableDSRequest = enableDSRequest
    }

    // check port, mavversion and baud are valid (if starting telem)
    if (!this.activeDevice) {
      this.activeDevice = { serial: null, baud: null }
      for (let i = 0, len = this.serialDevices.length; i < len; i++) {
        if (this.serialDevices[i].pnpId === device.pnpId) {
          this.activeDevice.serial = this.serialDevices[i]
          break
        }
      }
      for (let i = 0, len = this.baudRates.length; i < len; i++) {
        if (this.baudRates[i].value === baud.value) {
          this.activeDevice.baud = this.baudRates[i]
          break
        }
      }
      for (let i = 0, len = this.mavlinkVersions.length; i < len; i++) {
        if (this.mavlinkVersions[i].value === mavversion.value) {
          this.activeDevice.mavversion = this.mavlinkVersions[i]
          break
        }
      }

      if (this.activeDevice.serial === null || this.activeDevice.baud.value === null || this.activeDevice.serial.value === null || this.activeDevice.mavversion.value === null || this.enableTCP === null) {
        this.activeDevice = null
        return callback(new Error('Bad serial device or baud or mavlink version'), false)
      }

      // this.activeDevice = {serial: device, baud: baud};
      this.startLink((err) => {
        if (err) {
          console.log("Can't open found FC " + this.activeDevice.serial.value + ', resetting link')
          this.activeDevice = null
        } else {
          // start timeout function for auto-reconnect
          this.startInterval()
          this.saveSerialSettings()
        }
        return callback(err, this.activeDevice !== null)
      })
    } else {
      // close link
      this.activeDevice = null
      this.closeLink(() => {
        this.saveSerialSettings()
        clearInterval(this.intervalObj)
        this.previousConnection = false
        this.m.close()
        this.m = null
        return callback(null, this.activeDevice !== null)
      })
    }
  }

  saveSerialSettings () {
    // Save the current settings to file
    try {
      this.settings.setValue('flightcontroller.activeDevice', this.activeDevice)
      this.settings.setValue('flightcontroller.outputs', this.UDPoutputs)
      this.settings.setValue('flightcontroller.enableHeartbeat', this.enableHeartbeat)
      this.settings.setValue('flightcontroller.enableTCP', this.enableTCP)
      this.settings.setValue('flightcontroller.enableUDPB', this.enableUDPB)
      this.settings.setValue('flightcontroller.UDPBPort', this.UDPBPort)
      this.settings.setValue('flightcontroller.enableDSRequest', this.enableDSRequest)
      this.settings.setValue('flightcontroller.tlogging', this.tlogging)
      console.log('Saved FC settings')
    } catch (e) {
      console.log(e)
    }
  }
}

module.exports = FCDetails

1	const { autoDetect } = require('@serialport/bindings-cpp')	3✔
2	const fs = require('fs')	3✔
3	const events = require('events')	3✔
4	const path = require('path')	3✔
5	const appRoot = require('app-root-path')	3✔
6	const { spawn, spawnSync } = require('child_process')	3✔
7	const si = require('systeminformation')	3✔
8
9	const mavManager = require('../mavlink/mavManager.js')	3✔
10	const logpaths = require('./paths.js')	3✔
11
12	function isPi () {
13	let cpuInfo = ''	3✔
14	try {	3✔
15	cpuInfo = fs.readFileSync('/proc/device-tree/compatible', { encoding: 'utf8' })	3✔
16	} catch (e) {
17	// if this fails, this is probably not a pi
18	return false	3✔
19	}
20
21	const model = cpuInfo	×
22	.split(',')
23	.filter(line => line.length > 0)	×
24
25	if (!model \|\| model.length === 0) {	×
26	return false	×
27	}
28
29	return model[0] === 'raspberrypi'	×
30	}
31
32	class FCDetails {
33	constructor (settings) {
34	// if the device was successfully opend and got packets
35	this.previousConnection = false	15✔
36
37	// all detected serial ports and baud rates
38	this.serialDevices = []	15✔
39	this.baudRates = [{ value: 9600, label: '9600' },	15✔
40	{ value: 19200, label: '19200' },
41	{ value: 38400, label: '38400' },
42	{ value: 57600, label: '57600' },
43	{ value: 111100, label: '111100' },
44	{ value: 115200, label: '115200' },
45	{ value: 230400, label: '230400' },
46	{ value: 256000, label: '256000' },
47	{ value: 460800, label: '460800' },
48	{ value: 500000, label: '500000' },
49	{ value: 921600, label: '921600' },
50	{ value: 1500000, label: '1500000' }]
51	this.mavlinkVersions = [{ value: 1, label: '1.0' },	15✔
52	{ value: 2, label: '2.0' }]
53	// JSON of active device (port and baud and mavversion). User selected
54	// null if user selected no link (or no serial port of that name)
55	this.activeDevice = null	15✔
56
57	// mavlink-router process
58	this.router = null	15✔
59
60	// the mavlink manager object
61	this.m = null	15✔
62
63	// For sending events outside of object
64	this.eventEmitter = new events.EventEmitter()	15✔
65
66	// Interval to check connection status and re-connect
67	// if required
68	this.intervalObj = null	15✔
69
70	// UDP Outputs
71	this.UDPoutputs = []	15✔
72
73	// Send out MAVLink heartbeat packets?
74	this.enableHeartbeat = false	15✔
75
76	// Use TCP output?
77	this.enableTCP = false	15✔
78
79	// Use UDP Broadcast?
80	this.enableUDPB = true	15✔
81	this.UDPBPort = 14550	15✔
82
83	// Send datastream requests to flight controller?
84	this.enableDSRequest = false	15✔
85
86	// Current binlog via mavlink-router
87	this.binlog = null	15✔
88
89	this.tlogging = false	15✔
90
91	// load settings
92	this.settings = settings	15✔
93	this.activeDevice = this.settings.value('flightcontroller.activeDevice', null)	15✔
94	this.UDPoutputs = this.settings.value('flightcontroller.outputs', [])	15✔
95	this.enableHeartbeat = this.settings.value('flightcontroller.enableHeartbeat', false)	15✔
96	this.enableTCP = this.settings.value('flightcontroller.enableTCP', false)	15✔
97	this.enableUDPB = this.settings.value('flightcontroller.enableUDPB', true)	15✔
98	this.UDPBPort = this.settings.value('flightcontroller.UDPBPort', 14550)	15✔
99	this.enableDSRequest = this.settings.value('flightcontroller.enableDSRequest', false)	15✔
100	this.tlogging = this.settings.value('flightcontroller.tlogging', false)	15✔
101
102	if (this.activeDevice !== null) {	15!
103	// restart link if saved serial device is found
104	let found = false	×
105	this.getSerialDevices((err, devices) => {	×
106	for (let i = 0, len = devices.length; i < len; i++) {	×
107	if (this.activeDevice.serial.value === devices[i].value) {	×
108	found = true	×
109	this.startLink((err) => {	×
110	if (err) {	×
111	console.log("Can't open found FC " + this.activeDevice.serial.value + ', resetting link')	×
112	this.activeDevice = null	×
113	}
114	this.startInterval()	×
115	})
116	break	×
117	}
118	}
119	if (!found) {	×
120	console.log("Can't find saved FC, resetting")	×
121	this.activeDevice = null	×
122	}
123	})
124	}
125	}
126
127	validMavlinkRouter () {
128	// check mavlink-router is installed
129	const ls = spawnSync('which', ['mavlink-routerd'])	3✔
130	console.log(ls.stdout.toString())	3✔
131	if (ls.stdout.toString().trim() == '') {	3!
132	return false	×
133	} else {
134	return true	3✔
135	}
136	}
137
138	isModemManagerInstalled () {
139	// check ModemManager is installed
140	const ls = spawnSync('which', ['ModemManager'])	3✔
141	console.log(ls.stdout.toString())	3✔
142	if (ls.stdout.toString().includes('ModemManager')) {	3!
143	return true	×
144	} else {
145	return false	3✔
146	}
147	}
148
149	getUDPOutputs () {
150	// get list of current UDP outputs
151	const ret = []	33✔
152	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	33✔
153	ret.push({ IPPort: this.UDPoutputs[i].IP + ':' + this.UDPoutputs[i].port })	36✔
154	}
155	return ret	33✔
156	}
157
158	addUDPOutput (newIP, newPort) {
159	// add a new udp output, if not already in
160	// check if this ip:port is already in the list
161	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	9✔
162	if (this.UDPoutputs[i].IP === newIP && this.UDPoutputs[i].port === newPort) {	6✔
163	return this.getUDPOutputs()	3✔
164	}
165	}
166
167	// check that it's not the internal 127.0.0.1:14540
168	if (newIP === '127.0.0.1' && newPort === 14540) {	6!
169	return this.getUDPOutputs()	×
170	}
171
172	// add it in
173	this.UDPoutputs.push({ IP: newIP, port: newPort })	6✔
174	console.log('Added UDP Output ' + newIP + ':' + newPort)	6✔
175
176	// restart mavlink-router, if link active
177	if (this.m) {	6!
178	this.closeLink(() => {	×
179	this.startLink((err) => {	×
180	if (err) {	×
181	console.log(err)	×
182	}
183	})
184	})
185	}
186
187	// try to save. Will be invalid if running under test runner
188	try {	6✔
189	this.saveSerialSettings()	6✔
190	} catch (e) {
191	console.log(e)	×
192	}
193
194	return this.getUDPOutputs()	6✔
195	}
196
197	removeUDPOutput (remIP, remPort) {
198	// remove new udp output
199
200	// check that it's not the internal 127.0.0.1:14540
201	if (remIP === '127.0.0.1' && remPort === 14540) {	6!
202	return this.getUDPOutputs()	×
203	}
204
205	// check if this ip:port is already in the list
206	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	6✔
207	if (this.UDPoutputs[i].IP === remIP && this.UDPoutputs[i].port === remPort) {	9✔
208	// and remove
209	this.UDPoutputs.splice(i, 1)	3✔
210	console.log('Removed UDP Output ' + remIP + ':' + remPort)	3✔
211
212	// restart mavlink-router, if link active
213	if (this.m) {	3!
214	this.closeLink(() => {	×
215	this.startLink((err) => {	×
216	if (err) {	×
217	console.log(err)	×
218	}
219	})
220	})
221	}
222
223	// try to save. Will be invalid if running under test runner
224	try {	3✔
225	this.saveSerialSettings()	3✔
226	} catch (e) {
227	console.log(e)	×
228	}
229
230	return this.getUDPOutputs()	3✔
231	}
232	}
233
234	return this.getUDPOutputs()	3✔
235	}
236
237	getSystemStatus () {
238	// get the system status
239	if (this.m !== null) {	3!
240	return {	×
241	numpackets: this.m.statusNumRxPackets,
242	FW: this.m.autopilotFromID(),
243	vehType: this.m.vehicleFromID(),
244	conStatus: this.m.conStatusStr(),
245	statusText: this.m.statusText,
246	byteRate: this.m.statusBytesPerSec.avgBytesSec,
247	fcVersion: this.m.fcVersion
248	}
249	} else {
250	return {	3✔
251	numpackets: 0,
252	FW: '',
253	vehType: '',
254	conStatus: 'Not connected',
255	statusText: '',
256	byteRate: 0,
257	fcVersion: ''
258	}
259	}
260	}
261
262	rebootFC () {
263	// command the flight controller to reboot
264	if (this.m !== null) {	×
265	console.log('Rebooting FC')	×
266	this.m.sendReboot()	×
267	}
268	}
269
270	startBinLogging () {
271	// command the flight controller to start streaming bin log
272	if (this.m !== null) {	×
273	console.log('Bin log start request')	×
274	this.m.sendBinStreamRequest()	×
275	}
276	}
277
278	stopBinLogging () {
279	// command the flight controller to stop streaming bin log
280	if (this.m !== null) {	×
281	console.log('Bin log stop request')	×
282	this.m.sendBinStreamRequestStop()	×
283	}
284	}
285
286	startLink (callback) {
287	// start the serial link
288	console.log('Opening Link ' + this.activeDevice.serial.value + ' @ ' + this.activeDevice.baud.value + ', MAV v' + this.activeDevice.mavversion.value)	3✔
289	// this.outputs.push({ IP: newIP, port: newPort })
290
291	// build up the commandline for mavlink-router
292	const cmd = ['-e', '127.0.0.1:14540', '--tcp-port']	3✔
293	if (this.enableTCP === true) {	3!
294	cmd.push('5760')	3✔
295	} else {
296	cmd.push('0')	×
297	}
298	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	3✔
299	cmd.push('-e')	×
300	cmd.push(this.UDPoutputs[i].IP + ':' + this.UDPoutputs[i].port)	×
301	}
302	cmd.push('--log')	3✔
303	cmd.push(logpaths.flightsLogsDir)	3✔
304	if (this.tlogging === true) {	3!
305	cmd.push('--telemetry-log')	×
306	}
307	if (this.enableUDPB === true) {	3!
308	cmd.push('0.0.0.0:' + this.UDPBPort)	×
309	}
310	cmd.push(this.activeDevice.serial.value + ':' + this.activeDevice.baud.value)	3✔
311	console.log(cmd)	3✔
312
313	// check mavlink-router exists
314	if (!this.validMavlinkRouter()) {	3!
315	console.log('Could not find mavlink-routerd')	×
316	return callback('Could not find mavlink-routerd', false)	×
317	}
318
319	// start mavlink-router
320	this.router = spawn('mavlink-routerd', cmd)	3✔
321	this.router.stdout.on('data', (data) => {	3✔
322	console.log(`stdout: ${data}`)	×
323	})
324
325	this.router.stderr.on('data', (data) => {	3✔
326	console.error(`stderr: ${data}`)	3✔
327	if (data.toString().includes('Logging target') && data.toString().includes('.bin')) {	3!
328	// remove old log, if it exists and is >60kB
329	try {	×
330	if (this.binlog !== null) {	×
331	const fileStat = fs.lstatSync(this.binlog)	×
332	if (Math.round(fileStat.size / 1024) < 60) {	×
333	fs.unlinkSync(this.binlog)	×
334	}
335	}
336	} catch (err) {
337	console.log(err)	×
338	}
339	const res = data.toString().split(' ')	×
340	const curLog = (res[res.length - 1]).trim()	×
NEW 341	this.binlog = path.join(logpaths.flightsLogsDir, curLog)	×
342	console.log('Current log is: ' + this.binlog)	×
343	}
344	})
345
346	this.router.on('close', (code) => {	3✔
347	console.log(`child process exited with code ${code}`)	3✔
348	console.log('Closed Router')	3✔
349	this.eventEmitter.emit('stopLink')	3✔
350	})
351
352	console.log('Opened Router')	3✔
353
354	// only restart the mavlink processor if it's a new link,
355	// not a reconnect attempt
356	if (this.m === null) {	3!
357	this.m = new mavManager(this.activeDevice.mavversion.value, '127.0.0.1', 14540, this.enableDSRequest)	3✔
358	this.m.eventEmitter.on('gotMessage', (packet, data) => {	3✔
359	// got valid message - send on to attached classes
360	this.previousConnection = true	×
361	this.eventEmitter.emit('gotMessage', packet, data)	×
362	})
363	}
364
365	// arming events - just pass them on
366	this.m.eventEmitter.on('armed', () => {	3✔
367	this.eventEmitter.emit('armed')	×
368	})
369	this.m.eventEmitter.on('disarmed', () => {	3✔
370	this.eventEmitter.emit('disarmed')	×
371	})
372	this.eventEmitter.emit('newLink')	3✔
373
374	return callback(null, true)	3✔
375	}
376
377	closeLink (callback) {
378	// stop the serial link
379	if (this.router && this.router.exitCode === null) {	3!
380	this.router.kill('SIGINT')	3✔
381	console.log('Trying to close router')	3✔
382	return callback(null)	3✔
383	} else {
384	console.log('Already Closed Router')	×
385	this.eventEmitter.emit('stopLink')	×
386	return callback(null)	×
387	}
388	}
389
390	async getSerialDevices (callback) {
391	// get all serial devices
392	this.serialDevices = []	3✔
393	let retError = null	3✔
394
395	const Binding = autoDetect()	3✔
396	const ports = await Binding.list()	3✔
397
398	for (let i = 0, len = ports.length; i < len; i++) {	3✔
399	if (ports[i].pnpId !== undefined) {	96!
400	// usb-ArduPilot_Pixhawk1-1M_32002A000847323433353231-if00
401	// console.log("Port: ", ports[i].pnpID);
402	let namePorts = ''	×
403	if (ports[i].pnpId.split('_').length > 2) {	×
404	namePorts = ports[i].pnpId.split('_')[1] + ' (' + ports[i].path + ')'	×
405	} else {
406	namePorts = ports[i].manufacturer + ' (' + ports[i].path + ')'	×
407	}
408	// console.log("Port: ", ports[i].pnpID);
409	this.serialDevices.push({ value: ports[i].path, label: namePorts, pnpId: ports[i].pnpId })	×
410	} else if (ports[i].manufacturer !== undefined) {	96!
411	// on recent RasPiOS, the pnpID is undefined :(
412	const nameports = ports[i].manufacturer + ' (' + ports[i].path + ')'	×
413	this.serialDevices.push({ value: ports[i].path, label: nameports, pnpId: nameports })	×
414	}
415	}
416	// if the serial console or modemmanager are active on the Pi, return error
417	if (this.isModemManagerInstalled()) {	3!
418	retError = Error('The ModemManager package is installed. This must be uninstalled (via sudo apt remove modemmanager), due to conflicts with serial ports')	×
419	}
420	if (fs.existsSync('/boot/cmdline.txt') && isPi()) {	3!
421	const data = fs.readFileSync('/boot/cmdline.txt', { encoding: 'utf8', flag: 'r' })	×
422	if (data.includes('console=serial0')) {	×
423	retError = Error('Serial console is active on /dev/serial0. Use raspi-config to deactivate it')	×
424	}
425	}
426	// for the Ras Pi's inbuilt UART
427	if (fs.existsSync('/dev/serial0') && isPi()) {	3!
428	this.serialDevices.push({ value: '/dev/serial0', label: '/dev/serial0', pnpId: '/dev/serial0' })	×
429	}
430	if (fs.existsSync('/dev/ttyAMA0') && isPi()) {	3!
431	//Pi5 uses a different UART name. See https://forums.raspberrypi.com/viewtopic.php?t=359132
432	this.serialDevices.push({ value: '/dev/ttyAMA0', label: '/dev/ttyAMA0', pnpId: '/dev/ttyAMA0' })	×
433	}
434	if (fs.existsSync('/dev/ttyAMA1') && isPi()) {	3!
435	this.serialDevices.push({ value: '/dev/ttyAMA1', label: '/dev/ttyAMA1', pnpId: '/dev/ttyAMA1' })	×
436	}
437	if (fs.existsSync('/dev/ttyAMA2') && isPi()) {	3!
438	this.serialDevices.push({ value: '/dev/ttyAMA2', label: '/dev/ttyAMA2', pnpId: '/dev/ttyAMA2' })	×
439	}
440	if (fs.existsSync('/dev/ttyAMA3') && isPi()) {	3!
441	this.serialDevices.push({ value: '/dev/ttyAMA3', label: '/dev/ttyAMA3', pnpId: '/dev/ttyAMA3' })	×
442	}
443	if (fs.existsSync('/dev/ttyAMA4') && isPi()) {	3!
444	this.serialDevices.push({ value: '/dev/ttyAMA4', label: '/dev/ttyAMA4', pnpId: '/dev/ttyAMA4' })	×
445	}
446	// rpi uart has different name under Ubuntu
447	const data = await si.osInfo()	3✔
448	if (data.distro.toString().includes('Ubuntu') && fs.existsSync('/dev/ttyS0') && isPi()) {	3!
449	// console.log("Running Ubuntu")
450	this.serialDevices.push({ value: '/dev/ttyS0', label: '/dev/ttyS0', pnpId: '/dev/ttyS0' })	×
451	}
452	// jetson serial ports
453	if (fs.existsSync('/dev/ttyTHS1')) {	3!
454	this.serialDevices.push({ value: '/dev/ttyTHS1', label: '/dev/ttyTHS1', pnpId: '/dev/ttyTHS1' })	×
455	}
456	if (fs.existsSync('/dev/ttyTHS2')) {	3!
457	this.serialDevices.push({ value: '/dev/ttyTHS2', label: '/dev/ttyTHS2', pnpId: '/dev/ttyTHS2' })	×
458	}
459	if (fs.existsSync('/dev/ttyTHS3')) {	3!
460	this.serialDevices.push({ value: '/dev/ttyTHS3', label: '/dev/ttyTHS3', pnpId: '/dev/ttyTHS3' })	×
461	}
462
463	// has the active device been disconnected?
464	if (this.port) {	3!
465	console.log('Lost active device')	×
466	// this.active = false;
UNCOV 467	this.m.close()	×
468	this.m = null	×
469	}
470	// set the active device as selected
471	if (this.activeDevice) {	3!
472	return callback(retError, this.serialDevices, this.baudRates, this.activeDevice.serial, this.activeDevice.baud, this.mavlinkVersions, this.activeDevice.mavversion, true, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging)	×
473	} else if (this.serialDevices.length > 0) {	3!
474	return callback(retError, this.serialDevices, this.baudRates, this.serialDevices[0], this.baudRates[3], this.mavlinkVersions, this.mavlinkVersions[1], false, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging)	×
475	} else {
476	return callback(retError, this.serialDevices, this.baudRates, [], this.baudRates[3], this.mavlinkVersions, this.mavlinkVersions[1], false, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging)	3✔
477	}
478	}
479
480	startInterval () {
481	// start the 1-sec loop checking for disconnects
482	this.intervalObj = setInterval(() => {	3✔
483
484	// Send heartbeats, if they are enabled
485	if(this.enableHeartbeat){	×
486	this.m.sendHeartbeat()	×
487	}
488	// check for timeouts in serial link (ie disconnected cable or reboot)
489	if (this.m && this.m.conStatusInt() === -1) {	×
490	console.log('Trying to reconnect FC...')	×
491	this.closeLink(() => {	×
492	this.startLink((err) => {	×
493	if (err) {	×
494	console.log(err)	×
495	} else {
496	// DS request is in this.m.restart()
497	this.m.restart()	×
498	}
499	})
500	})
501	}
502	}, 1000)
503	}
504
505	startStopTelemetry (device, baud, mavversion, enableHeartbeat, enableTCP, enableUDPB, UDPBPort, enableDSRequest, tlogging, callback) {
506	// user wants to start or stop telemetry
507	// callback is (err, isSuccessful)
508
509	this.enableHeartbeat = enableHeartbeat	6✔
510	this.enableTCP = enableTCP	6✔
511	this.enableUDPB = enableUDPB	6✔
512	this.UDPBPort = UDPBPort	6✔
513	this.enableDSRequest = enableDSRequest	6✔
514	this.tlogging = tlogging	6✔
515
516	if (this.m) {	6✔
517	this.m.enableDSRequest = enableDSRequest	3✔
518	}
519
520	// check port, mavversion and baud are valid (if starting telem)
521	if (!this.activeDevice) {	6✔
522	this.activeDevice = { serial: null, baud: null }	3✔
523	for (let i = 0, len = this.serialDevices.length; i < len; i++) {	3✔
524	if (this.serialDevices[i].pnpId === device.pnpId) {	3!
525	this.activeDevice.serial = this.serialDevices[i]	3✔
526	break	3✔
527	}
528	}
529	for (let i = 0, len = this.baudRates.length; i < len; i++) {	3✔
530	if (this.baudRates[i].value === baud.value) {	18✔
531	this.activeDevice.baud = this.baudRates[i]	3✔
532	break	3✔
533	}
534	}
535	for (let i = 0, len = this.mavlinkVersions.length; i < len; i++) {	3✔
536	if (this.mavlinkVersions[i].value === mavversion.value) {	6✔
537	this.activeDevice.mavversion = this.mavlinkVersions[i]	3✔
538	break	3✔
539	}
540	}
541
542	if (this.activeDevice.serial === null \|\| this.activeDevice.baud.value === null \|\| this.activeDevice.serial.value === null \|\| this.activeDevice.mavversion.value === null \|\| this.enableTCP === null) {	3!
543	this.activeDevice = null	×
544	return callback(new Error('Bad serial device or baud or mavlink version'), false)	×
545	}
546
547	// this.activeDevice = {serial: device, baud: baud};
548	this.startLink((err) => {	3✔
549	if (err) {	3!
550	console.log("Can't open found FC " + this.activeDevice.serial.value + ', resetting link')	×
551	this.activeDevice = null	×
552	} else {
553	// start timeout function for auto-reconnect
554	this.startInterval()	3✔
555	this.saveSerialSettings()	3✔
556	}
557	return callback(err, this.activeDevice !== null)	3✔
558	})
559	} else {
560	// close link
561	this.activeDevice = null	3✔
562	this.closeLink(() => {	3✔
563	this.saveSerialSettings()	3✔
564	clearInterval(this.intervalObj)	3✔
565	this.previousConnection = false	3✔
566	this.m.close()	3✔
567	this.m = null	3✔
568	return callback(null, this.activeDevice !== null)	3✔
569	})
570	}
571	}
572
573	saveSerialSettings () {
574	// Save the current settings to file
575	try {	15✔
576	this.settings.setValue('flightcontroller.activeDevice', this.activeDevice)	15✔
577	this.settings.setValue('flightcontroller.outputs', this.UDPoutputs)	15✔
578	this.settings.setValue('flightcontroller.enableHeartbeat', this.enableHeartbeat)	15✔
579	this.settings.setValue('flightcontroller.enableTCP', this.enableTCP)	15✔
580	this.settings.setValue('flightcontroller.enableUDPB', this.enableUDPB)	15✔
581	this.settings.setValue('flightcontroller.UDPBPort', this.UDPBPort)	15✔
582	this.settings.setValue('flightcontroller.enableDSRequest', this.enableDSRequest)	15✔
583	this.settings.setValue('flightcontroller.tlogging', this.tlogging)	15✔
584	console.log('Saved FC settings')	15✔
585	} catch (e) {
UNCOV 586	console.log(e)	×
587	}
588	}
589	}
590
591	module.exports = FCDetails	3✔

stephendade / Rpanion-server / 15678546196

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