19757474591

Committed 28 Nov 2025 07:49AM UTC coverage: 35.792% (+1.3%) from 34.54%

Build # 19757474591

Build Type

Pull #344

github

Committed by

web-flow

Commit Message

Merge f6fedd88d into 0fb9accdf

Pull Request Pull Request #344: Finalsv12

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55.26

/server/flightController.js

const fs = require('fs')
const events = require('events')
const path = require('path')
const { spawn, spawnSync } = require('child_process')

const mavManager = require('../mavlink/mavManager.js')
const logpaths = require('./paths.js')
const { detectSerialDevices, isModemManagerInstalled, isPi, getSerialPathFromValue } = require('./serialDetection.js')

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' }]
    this.inputTypes = [{ value: 'UART', label: 'UART' },
      { value: 'UDP', label: 'UDP Server' }]
    // JSON of active device (input type, 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

    // Is the connection active?
    this.active = false

    // mavlink-routerd path
    this.mavlinkRouterPath = null

    // 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)
    this.active = this.settings.value('flightcontroller.active', false)

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

  validMavlinkRouter () {
    // check mavlink-router is installed and updates folder
    const ls = spawnSync('which', ['mavlink-routerd'])
    console.log(ls.stdout.toString())
    if (ls.stdout.toString().trim() == '') {
      // also check the parent directory
      const parentDir = path.dirname(__dirname)
      const mavlinkRouterPath = path.join(parentDir, 'mavlink-routerd')
      if (fs.existsSync(mavlinkRouterPath)) {
        console.log('Found mavlink-routerd in ' + parentDir)
        this.mavlinkRouterPath = parentDir + "/mavlink-routerd"
        return true
      }
      this.mavlinkRouterPath = null
      return false
    } else {
      console.log('Found mavlink-routerd in ' + ls.stdout.toString().trim())
      this.mavlinkRouterPath = ls.stdout.toString().trim()
      return true
    }
  }



  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
    if (this.activeDevice.inputType === 'UDP') {
      console.log('Opening UDP Link ' + '0.0.0.0:' + this.activeDevice.udpInputPort + ', MAV v' + this.activeDevice.mavversion)
    } else {
      console.log('Opening UART Link ' + this.activeDevice.serial + ' @ ' + this.activeDevice.baud + ', MAV v' + this.activeDevice.mavversion)
    }
    // 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)
    }
    if (this.activeDevice.inputType === 'UART') {
      const serialPath = getSerialPathFromValue(this.activeDevice.serial, this.serialDevices)
      cmd.push(serialPath + ':' + this.activeDevice.baud)
    } else if (this.activeDevice.inputType === 'UDP') {
      cmd.push('0.0.0.0:' + this.activeDevice.udpInputPort)
    }
    console.log(cmd)

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

    // start mavlink-router
    this.router = spawn(this.mavlinkRouterPath, 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, '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')

    this.active = true
    return callback(null, true)
  }

  closeLink (callback) {
    // stop the serial link
    this.active = false
    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)
    }
  }

  checkSerialPortIssues () {
    // Check if ModemManager is installed
    if (isModemManagerInstalled()) {
      return new Error('The ModemManager package is installed. This must be uninstalled (via sudo apt remove modemmanager), due to conflicts with serial ports')
    }

    // Check if serial console is active on Raspberry Pi
    if (fs.existsSync('/boot/cmdline.txt') && isPi()) {
      const data = fs.readFileSync('/boot/cmdline.txt', { encoding: 'utf8', flag: 'r' })
      if (data.includes('console=serial0')) {
        return new Error('Serial console is active on /dev/serial0. Use raspi-config to deactivate it')
      }
    }

    return null
  }

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

    // Detect all serial devices using hardwareDetection module
    this.serialDevices = await detectSerialDevices()

    // Check for configuration issues
    retError = this.checkSerialPortIssues()

    // set the active device as selected
    if (this.active && this.activeDevice && this.activeDevice.inputType === 'UART') {
      return callback(retError, this.serialDevices, this.baudRates, this.activeDevice.serial,
        this.activeDevice.baud, this.mavlinkVersions, this.activeDevice.mavversion,
        this.active, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging, this.activeDevice.udpInputPort,
        this.inputTypes[0].value, this.inputTypes)
    } else if (this.active && this.activeDevice && this.activeDevice.inputType === 'UDP') {
      return callback(retError, this.serialDevices, this.baudRates, this.serialDevices.length > 0 ? this.serialDevices[0].value : [], this.baudRates[3].value,
        this.mavlinkVersions, this.activeDevice.mavversion, this.active, this.enableHeartbeat,
        this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging, this.activeDevice.udpInputPort,
        this.inputTypes[1].value, this.inputTypes)
    } else {
      // no connection
      return callback(retError, this.serialDevices, this.baudRates, this.serialDevices.length > 0 ? this.serialDevices[0].value : [],
        this.baudRates[3].value, this.mavlinkVersions, this.mavlinkVersions[1].value, this.active, this.enableHeartbeat,
        this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging, 9000, this.inputTypes[0].value, this.inputTypes)
    }
  }

  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, inputType, udpInputPort, 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.active) {
      this.activeDevice = { serial: null, baud: null, inputType: 'UART', mavversion: null, udpInputPort: 9000 }
      this.activeDevice.mavversion = mavversion

      if (inputType === 'UART') {
        this.activeDevice.inputType = 'UART'
        for (let i = 0, len = this.serialDevices.length; i < len; i++) {
          if (this.serialDevices[i].value === device) {
            this.activeDevice.serial = this.serialDevices[i].value
            break
          }
        }
        for (let i = 0, len = this.baudRates.length; i < len; i++) {
          if (this.baudRates[i].value === baud) {
            this.activeDevice.baud = this.baudRates[i].value
            break
          }
        }
        console.log('Selected device: ' + device + ' @ ' + baud)
        console.log(this.activeDevice)

        if (this.activeDevice.serial === null || this.activeDevice.baud === null || this.activeDevice.serial.value === null || this.activeDevice.mavversion === null || this.enableTCP === null) {
          this.activeDevice = null
          this.active = false
          return callback(new Error('Bad serial device or baud'), false)
        }
      } else if (inputType === 'UDP') {
        // UDP input
        this.activeDevice.inputType = 'UDP'
        this.activeDevice.serial = null
        this.activeDevice.baud = null
        this.activeDevice.mavversion = mavversion
        this.activeDevice.udpInputPort = udpInputPort
      } else {
        // unknown input type
        this.activeDevice = null
        return callback(new Error('Unknown input type'), false)
      }

      // this.activeDevice = {inputType, udpInputPort, serial: device, baud: baud};
      this.startLink((err) => {
        if (err) {
          console.log(err)
          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)
      this.settings.setValue('flightcontroller.active', this.active)
      console.log('Saved FC settings')
    } catch (e) {
      console.log(e)
    }
  }
}

module.exports = FCDetails

1	const fs = require('fs')	3✔
2	const events = require('events')	3✔
3	const path = require('path')	3✔
4	const { spawn, spawnSync } = require('child_process')	3✔
5
6	const mavManager = require('../mavlink/mavManager.js')	3✔
7	const logpaths = require('./paths.js')	3✔
8	const { detectSerialDevices, isModemManagerInstalled, isPi, getSerialPathFromValue } = require('./serialDetection.js')	3✔
9
10	class FCDetails {
11	constructor (settings) {
12	// if the device was successfully opend and got packets
13	this.previousConnection = false	15✔
14
15	// all detected serial ports and baud rates
16	this.serialDevices = []	15✔
17	this.baudRates = [{ value: 9600, label: '9600' },	15✔
18	{ value: 19200, label: '19200' },
19	{ value: 38400, label: '38400' },
20	{ value: 57600, label: '57600' },
21	{ value: 111100, label: '111100' },
22	{ value: 115200, label: '115200' },
23	{ value: 230400, label: '230400' },
24	{ value: 256000, label: '256000' },
25	{ value: 460800, label: '460800' },
26	{ value: 500000, label: '500000' },
27	{ value: 921600, label: '921600' },
28	{ value: 1500000, label: '1500000' }]
29	this.mavlinkVersions = [{ value: 1, label: '1.0' },	15✔
30	{ value: 2, label: '2.0' }]
31	this.inputTypes = [{ value: 'UART', label: 'UART' },	15✔
32	{ value: 'UDP', label: 'UDP Server' }]
33	// JSON of active device (input type, port and baud and mavversion). User selected
34	// null if user selected no link (or no serial port of that name)
35	this.activeDevice = null	15✔
36
37	// mavlink-router process
38	this.router = null	15✔
39
40	// the mavlink manager object
41	this.m = null	15✔
42
43	// For sending events outside of object
44	this.eventEmitter = new events.EventEmitter()	15✔
45
46	// Interval to check connection status and re-connect
47	// if required
48	this.intervalObj = null	15✔
49
50	// UDP Outputs
51	this.UDPoutputs = []	15✔
52
53	// Send out MAVLink heartbeat packets?
54	this.enableHeartbeat = false	15✔
55
56	// Use TCP output?
57	this.enableTCP = false	15✔
58
59	// Use UDP Broadcast?
60	this.enableUDPB = true	15✔
61	this.UDPBPort = 14550	15✔
62
63	// Send datastream requests to flight controller?
64	this.enableDSRequest = false	15✔
65
66	// Current binlog via mavlink-router
67	this.binlog = null	15✔
68
69	this.tlogging = false	15✔
70
71	// Is the connection active?
72	this.active = false	15✔
73
74	// mavlink-routerd path
75	this.mavlinkRouterPath = null	15✔
76
77	// load settings
78	this.settings = settings	15✔
79	this.activeDevice = this.settings.value('flightcontroller.activeDevice', null)	15✔
80	this.UDPoutputs = this.settings.value('flightcontroller.outputs', [])	15✔
81	this.enableHeartbeat = this.settings.value('flightcontroller.enableHeartbeat', false)	15✔
82	this.enableTCP = this.settings.value('flightcontroller.enableTCP', false)	15✔
83	this.enableUDPB = this.settings.value('flightcontroller.enableUDPB', true)	15✔
84	this.UDPBPort = this.settings.value('flightcontroller.UDPBPort', 14550)	15✔
85	this.enableDSRequest = this.settings.value('flightcontroller.enableDSRequest', false)	15✔
86	this.tlogging = this.settings.value('flightcontroller.tlogging', false)	15✔
87	this.active = this.settings.value('flightcontroller.active', false)	15✔
88
89	if (this.active) {	15!
90	// restart link if saved serial device is found
UNCOV 91	this.getDeviceSettings((err, devices) => {	×
UNCOV 92	if (this.activeDevice.inputType === 'UART') {	×
UNCOV 93	let found = false	×
94	for (let i = 0, len = devices.length; i < len; i++) {	×
NEW 95	if (this.activeDevice.serial === devices[i].value) {	×
96	found = true	×
97	this.startLink((err) => {	×
98	if (err) {	×
NEW 99	console.log("Can't open found FC " + this.activeDevice.serial + ', resetting link')	×
100	this.activeDevice = null	×
101	this.active = false	×
102	}
103	this.startInterval()	×
104	})
UNCOV 105	break	×
106	}
107	}
108	if (!found) {	×
UNCOV 109	console.log("Can't open saved connection, resetting")	×
UNCOV 110	this.activeDevice = null	×
111	this.active = false	×
112	}
113	} else if (this.activeDevice.inputType === 'UDP') {	×
114	this.startLink((err) => {	×
UNCOV 115	if (err) {	×
116	console.log("Can't open UDP port " + this.activeDevice.udpInputPort + ', resetting link')	×
117	this.activeDevice = null	×
118	this.active = false	×
119	}
120	this.startInterval()	×
121	})
122	}
123	})
124	}
125	}
126
127	validMavlinkRouter () {
128	// check mavlink-router is installed and updates folder
129	const ls = spawnSync('which', ['mavlink-routerd'])	3✔
130	console.log(ls.stdout.toString())	3✔
131	if (ls.stdout.toString().trim() == '') {	3!
132	// also check the parent directory
133	const parentDir = path.dirname(__dirname)	3✔
134	const mavlinkRouterPath = path.join(parentDir, 'mavlink-routerd')	3✔
135	if (fs.existsSync(mavlinkRouterPath)) {	3!
136	console.log('Found mavlink-routerd in ' + parentDir)	3✔
137	this.mavlinkRouterPath = parentDir + "/mavlink-routerd"	3✔
138	return true	3✔
139	}
UNCOV 140	this.mavlinkRouterPath = null	×
UNCOV 141	return false	×
142	} else {
143	console.log('Found mavlink-routerd in ' + ls.stdout.toString().trim())	×
144	this.mavlinkRouterPath = ls.stdout.toString().trim()	×
UNCOV 145	return true	×
146	}
147	}
148
149
150
151	getUDPOutputs () {
152	// get list of current UDP outputs
153	const ret = []	33✔
154	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	33✔
155	ret.push({ IPPort: this.UDPoutputs[i].IP + ':' + this.UDPoutputs[i].port })	36✔
156	}
157	return ret	33✔
158	}
159
160	addUDPOutput (newIP, newPort) {
161	// add a new udp output, if not already in
162	// check if this ip:port is already in the list
163	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	9✔
164	if (this.UDPoutputs[i].IP === newIP && this.UDPoutputs[i].port === newPort) {	6✔
165	return this.getUDPOutputs()	3✔
166	}
167	}
168
169	// check that it's not the internal 127.0.0.1:14540
170	if (newIP === '127.0.0.1' && newPort === 14540) {	6!
UNCOV 171	return this.getUDPOutputs()	×
172	}
173
174	// add it in
175	this.UDPoutputs.push({ IP: newIP, port: newPort })	6✔
176	console.log('Added UDP Output ' + newIP + ':' + newPort)	6✔
177
178	// restart mavlink-router, if link active
179	if (this.m) {	6!
UNCOV 180	this.closeLink(() => {	×
UNCOV 181	this.startLink((err) => {	×
UNCOV 182	if (err) {	×
183	console.log(err)	×
184	}
185	})
186	})
187	}
188
189	// try to save. Will be invalid if running under test runner
190	try {	6✔
191	this.saveSerialSettings()	6✔
192	} catch (e) {
UNCOV 193	console.log(e)	×
194	}
195
196	return this.getUDPOutputs()	6✔
197	}
198
199	removeUDPOutput (remIP, remPort) {
200	// remove new udp output
201
202	// check that it's not the internal 127.0.0.1:14540
203	if (remIP === '127.0.0.1' && remPort === 14540) {	6!
UNCOV 204	return this.getUDPOutputs()	×
205	}
206
207	// check if this ip:port is already in the list
208	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	6✔
209	if (this.UDPoutputs[i].IP === remIP && this.UDPoutputs[i].port === remPort) {	9✔
210	// and remove
211	this.UDPoutputs.splice(i, 1)	3✔
212	console.log('Removed UDP Output ' + remIP + ':' + remPort)	3✔
213
214	// restart mavlink-router, if link active
215	if (this.m) {	3!
UNCOV 216	this.closeLink(() => {	×
UNCOV 217	this.startLink((err) => {	×
UNCOV 218	if (err) {	×
219	console.log(err)	×
220	}
221	})
222	})
223	}
224
225	// try to save. Will be invalid if running under test runner
226	try {	3✔
227	this.saveSerialSettings()	3✔
228	} catch (e) {
UNCOV 229	console.log(e)	×
230	}
231
232	return this.getUDPOutputs()	3✔
233	}
234	}
235
236	return this.getUDPOutputs()	3✔
237	}
238
239	getSystemStatus () {
240	// get the system status
241	if (this.m !== null) {	3!
UNCOV 242	return {	×
243	numpackets: this.m.statusNumRxPackets,
244	FW: this.m.autopilotFromID(),
245	vehType: this.m.vehicleFromID(),
246	conStatus: this.m.conStatusStr(),
247	statusText: this.m.statusText,
248	byteRate: this.m.statusBytesPerSec.avgBytesSec,
249	fcVersion: this.m.fcVersion
250	}
251	} else {
252	return {	3✔
253	numpackets: 0,
254	FW: '',
255	vehType: '',
256	conStatus: 'Not connected',
257	statusText: '',
258	byteRate: 0,
259	fcVersion: ''
260	}
261	}
262	}
263
264	rebootFC () {
265	// command the flight controller to reboot
UNCOV 266	if (this.m !== null) {	×
UNCOV 267	console.log('Rebooting FC')	×
UNCOV 268	this.m.sendReboot()	×
269	}
270	}
271
272	startBinLogging () {
273	// command the flight controller to start streaming bin log
UNCOV 274	if (this.m !== null) {	×
UNCOV 275	console.log('Bin log start request')	×
UNCOV 276	this.m.sendBinStreamRequest()	×
277	}
278	}
279
280	stopBinLogging () {
281	// command the flight controller to stop streaming bin log
UNCOV 282	if (this.m !== null) {	×
UNCOV 283	console.log('Bin log stop request')	×
UNCOV 284	this.m.sendBinStreamRequestStop()	×
285	}
286	}
287
288	startLink (callback) {
289	// start the serial link
290	if (this.activeDevice.inputType === 'UDP') {	3!
291	console.log('Opening UDP Link ' + '0.0.0.0:' + this.activeDevice.udpInputPort + ', MAV v' + this.activeDevice.mavversion)	×
292	} else {
293	console.log('Opening UART Link ' + this.activeDevice.serial + ' @ ' + this.activeDevice.baud + ', MAV v' + this.activeDevice.mavversion)	3✔
294	}
295	// this.outputs.push({ IP: newIP, port: newPort })
296
297	// build up the commandline for mavlink-router
298	const cmd = ['-e', '127.0.0.1:14540', '--tcp-port']	3✔
299	if (this.enableTCP === true) {	3!
300	cmd.push('5760')	3✔
301	} else {
302	cmd.push('0')	×
303	}
304	for (let i = 0, len = this.UDPoutputs.length; i < len; i++) {	3✔
305	cmd.push('-e')	×
306	cmd.push(this.UDPoutputs[i].IP + ':' + this.UDPoutputs[i].port)	×
307	}
308	cmd.push('--log')	3✔
309	cmd.push(logpaths.flightsLogsDir)	3✔
310	if (this.tlogging === true) {	3!
311	cmd.push('--telemetry-log')	×
312	}
313	if (this.enableUDPB === true) {	3!
314	cmd.push('0.0.0.0:' + this.UDPBPort)	×
315	}
316	if (this.activeDevice.inputType === 'UART') {	3!
317	const serialPath = getSerialPathFromValue(this.activeDevice.serial, this.serialDevices)	3✔
318	cmd.push(serialPath + ':' + this.activeDevice.baud)	3✔
319	} else if (this.activeDevice.inputType === 'UDP') {	×
320	cmd.push('0.0.0.0:' + this.activeDevice.udpInputPort)	×
321	}
322	console.log(cmd)	3✔
323
324	// check mavlink-router exists
325	if (!this.validMavlinkRouter()) {	3!
326	console.log('Could not find mavlink-routerd')	×
327	this.active = false	×
328	return callback('Could not find mavlink-routerd', false)	×
329	}
330
331	// start mavlink-router
332	this.router = spawn(this.mavlinkRouterPath, cmd)	3✔
333	this.router.stdout.on('data', (data) => {	3✔
334	console.log(`stdout: ${data}`)	×
335	})
336
337	this.router.stderr.on('data', (data) => {	3✔
338	console.error(`stderr: ${data}`)	3✔
339	if (data.toString().includes('Logging target') && data.toString().includes('.bin')) {	3!
340	// remove old log, if it exists and is >60kB
341	try {	×
UNCOV 342	if (this.binlog !== null) {	×
UNCOV 343	const fileStat = fs.lstatSync(this.binlog)	×
UNCOV 344	if (Math.round(fileStat.size / 1024) < 60) {	×
345	fs.unlinkSync(this.binlog)	×
346	}
347	}
348	} catch (err) {
UNCOV 349	console.log(err)	×
350	}
UNCOV 351	const res = data.toString().split(' ')	×
352	const curLog = (res[res.length - 1]).trim()	×
UNCOV 353	this.binlog = path.join(logpaths.flightsLogsDir, curLog)	×
UNCOV 354	console.log('Current log is: ' + this.binlog)	×
355	}
356	})
357
358	this.router.on('close', (code) => {	3✔
359	console.log(`child process exited with code ${code}`)	3✔
360	console.log('Closed Router')	3✔
361	this.eventEmitter.emit('stopLink')	3✔
362	})
363
364	console.log('Opened Router')	3✔
365
366	// only restart the mavlink processor if it's a new link,
367	// not a reconnect attempt
368	if (this.m === null) {	3!
369	this.m = new mavManager(this.activeDevice.mavversion, '127.0.0.1', 14540, this.enableDSRequest)	3✔
370	this.m.eventEmitter.on('gotMessage', (packet, data) => {	3✔
371	// got valid message - send on to attached classes
372	this.previousConnection = true	×
373	this.eventEmitter.emit('gotMessage', packet, data)	×
374	})
375	}
376
377	// arming events - just pass them on
378	this.m.eventEmitter.on('armed', () => {	3✔
UNCOV 379	this.eventEmitter.emit('armed')	×
380	})
381	this.m.eventEmitter.on('disarmed', () => {	3✔
382	this.eventEmitter.emit('disarmed')	×
383	})
384	this.eventEmitter.emit('newLink')	3✔
385
386	this.active = true	3✔
387	return callback(null, true)	3✔
388	}
389
390	closeLink (callback) {
391	// stop the serial link
392	this.active = false	3✔
393	if (this.router && this.router.exitCode === null) {	3!
394	this.router.kill('SIGINT')	3✔
395	console.log('Trying to close router')	3✔
396	return callback(null)	3✔
397	} else {
398	console.log('Already Closed Router')	×
399	this.eventEmitter.emit('stopLink')	×
UNCOV 400	return callback(null)	×
401	}
402	}
403
404	checkSerialPortIssues () {
405	// Check if ModemManager is installed
406	if (isModemManagerInstalled()) {	3!
NEW 407	return new Error('The ModemManager package is installed. This must be uninstalled (via sudo apt remove modemmanager), due to conflicts with serial ports')	×
408	}
409
410	// Check if serial console is active on Raspberry Pi
411	if (fs.existsSync('/boot/cmdline.txt') && isPi()) {	3!
UNCOV 412	const data = fs.readFileSync('/boot/cmdline.txt', { encoding: 'utf8', flag: 'r' })	×
UNCOV 413	if (data.includes('console=serial0')) {	×
NEW UNCOV 414	return new Error('Serial console is active on /dev/serial0. Use raspi-config to deactivate it')	×
415	}
416	}
417
418	return null	3✔
419	}
420
421	async getDeviceSettings (callback) {
422	// get all serial devices
423	this.serialDevices = []	3✔
424	let retError = null	3✔
425
426	// Detect all serial devices using hardwareDetection module
427	this.serialDevices = await detectSerialDevices()	3✔
428
429	// Check for configuration issues
430	retError = this.checkSerialPortIssues()	3✔
431
432	// set the active device as selected
433	if (this.active && this.activeDevice && this.activeDevice.inputType === 'UART') {	3!
NEW UNCOV 434	return callback(retError, this.serialDevices, this.baudRates, this.activeDevice.serial,	×
435	this.activeDevice.baud, this.mavlinkVersions, this.activeDevice.mavversion,
436	this.active, this.enableHeartbeat, this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging, this.activeDevice.udpInputPort,
437	this.inputTypes[0].value, this.inputTypes)
438	} else if (this.active && this.activeDevice && this.activeDevice.inputType === 'UDP') {	3!
UNCOV 439	return callback(retError, this.serialDevices, this.baudRates, this.serialDevices.length > 0 ? this.serialDevices[0].value : [], this.baudRates[3].value,	×
440	this.mavlinkVersions, this.activeDevice.mavversion, this.active, this.enableHeartbeat,
441	this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging, this.activeDevice.udpInputPort,
442	this.inputTypes[1].value, this.inputTypes)
443	} else {
444	// no connection
445	return callback(retError, this.serialDevices, this.baudRates, this.serialDevices.length > 0 ? this.serialDevices[0].value : [],	3!
446	this.baudRates[3].value, this.mavlinkVersions, this.mavlinkVersions[1].value, this.active, this.enableHeartbeat,
447	this.enableTCP, this.enableUDPB, this.UDPBPort, this.enableDSRequest, this.tlogging, 9000, this.inputTypes[0].value, this.inputTypes)
448	}
449	}
450
451	startInterval () {
452	// start the 1-sec loop checking for disconnects
453	this.intervalObj = setInterval(() => {	3✔
454
455	// Send heartbeats, if they are enabled
456	if(this.enableHeartbeat){	×
457	this.m.sendHeartbeat()	×
458	}
459	// check for timeouts in serial link (ie disconnected cable or reboot)
UNCOV 460	if (this.m && this.m.conStatusInt() === -1) {	×
UNCOV 461	console.log('Trying to reconnect FC...')	×
UNCOV 462	this.closeLink(() => {	×
463	this.startLink((err) => {	×
464	if (err) {	×
465	console.log(err)	×
466	} else {
467	// DS request is in this.m.restart()
UNCOV 468	this.m.restart()	×
469	}
470	})
471	})
472	}
473	}, 1000)
474	}
475
476	startStopTelemetry (device, baud, mavversion, enableHeartbeat, enableTCP, enableUDPB, UDPBPort, enableDSRequest,
477	tlogging, inputType, udpInputPort, callback) {
478	// user wants to start or stop telemetry
479	// callback is (err, isSuccessful)
480
481	this.enableHeartbeat = enableHeartbeat	6✔
482	this.enableTCP = enableTCP	6✔
483	this.enableUDPB = enableUDPB	6✔
484	this.UDPBPort = UDPBPort	6✔
485	this.enableDSRequest = enableDSRequest	6✔
486	this.tlogging = tlogging	6✔
487
488	if (this.m) {	6✔
489	this.m.enableDSRequest = enableDSRequest	3✔
490	}
491
492	// check port, mavversion and baud are valid (if starting telem)
493	if (!this.active) {	6✔
494	this.activeDevice = { serial: null, baud: null, inputType: 'UART', mavversion: null, udpInputPort: 9000 }	3✔
495	this.activeDevice.mavversion = mavversion	3✔
496
497	if (inputType === 'UART') {	3!
498	this.activeDevice.inputType = 'UART'	3✔
499	for (let i = 0, len = this.serialDevices.length; i < len; i++) {	3✔
500	if (this.serialDevices[i].value === device) {	3!
501	this.activeDevice.serial = this.serialDevices[i].value	3✔
502	break	3✔
503	}
504	}
505	for (let i = 0, len = this.baudRates.length; i < len; i++) {	3✔
506	if (this.baudRates[i].value === baud) {	18✔
507	this.activeDevice.baud = this.baudRates[i].value	3✔
508	break	3✔
509	}
510	}
511	console.log('Selected device: ' + device + ' @ ' + baud)	3✔
512	console.log(this.activeDevice)	3✔
513
514	if (this.activeDevice.serial === null \|\| this.activeDevice.baud === null \|\| this.activeDevice.serial.value === null \|\| this.activeDevice.mavversion === null \|\| this.enableTCP === null) {	3!
UNCOV 515	this.activeDevice = null	×
UNCOV 516	this.active = false	×
UNCOV 517	return callback(new Error('Bad serial device or baud'), false)	×
518	}
UNCOV 519	} else if (inputType === 'UDP') {	×
520	// UDP input
521	this.activeDevice.inputType = 'UDP'	×
522	this.activeDevice.serial = null	×
UNCOV 523	this.activeDevice.baud = null	×
UNCOV 524	this.activeDevice.mavversion = mavversion	×
525	this.activeDevice.udpInputPort = udpInputPort	×
526	} else {
527	// unknown input type
528	this.activeDevice = null	×
529	return callback(new Error('Unknown input type'), false)	×
530	}
531
532	// this.activeDevice = {inputType, udpInputPort, serial: device, baud: baud};
533	this.startLink((err) => {	3✔
534	if (err) {	3!
UNCOV 535	console.log(err)	×
UNCOV 536	this.activeDevice = null	×
537	} else {
538	// start timeout function for auto-reconnect
539	this.startInterval()	3✔
540	this.saveSerialSettings()	3✔
541	}
542	return callback(err, this.activeDevice !== null)	3✔
543	})
544	} else {
545	// close link
546	this.activeDevice = null	3✔
547	this.closeLink(() => {	3✔
548	this.saveSerialSettings()	3✔
549	clearInterval(this.intervalObj)	3✔
550	this.previousConnection = false	3✔
551	this.m.close()	3✔
552	this.m = null	3✔
553	return callback(null, this.activeDevice !== null)	3✔
554	})
555	}
556	}
557
558	saveSerialSettings () {
559	// Save the current settings to file
560	try {	15✔
561	this.settings.setValue('flightcontroller.activeDevice', this.activeDevice)	15✔
562	this.settings.setValue('flightcontroller.outputs', this.UDPoutputs)	15✔
563	this.settings.setValue('flightcontroller.enableHeartbeat', this.enableHeartbeat)	15✔
564	this.settings.setValue('flightcontroller.enableTCP', this.enableTCP)	15✔
565	this.settings.setValue('flightcontroller.enableUDPB', this.enableUDPB)	15✔
566	this.settings.setValue('flightcontroller.UDPBPort', this.UDPBPort)	15✔
567	this.settings.setValue('flightcontroller.enableDSRequest', this.enableDSRequest)	15✔
568	this.settings.setValue('flightcontroller.tlogging', this.tlogging)	15✔
569	this.settings.setValue('flightcontroller.active', this.active)	15✔
570	console.log('Saved FC settings')	15✔
571	} catch (e) {
UNCOV 572	console.log(e)	×
573	}
574	}
575	}
576
577	module.exports = FCDetails	3✔

stephendade / Rpanion-server / 19757474591

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