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Add MAVLink message actions #1436

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merged 2 commits into from
Nov 6, 2024
Merged

Add MAVLink message actions #1436

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932e0d6
eslint: Disable `no-explicit-any` rule
rafaellehmkuhl Nov 5, 2024
47eaa28
cockpit-actions: Add MAVLink message actions
rafaellehmkuhl Nov 5, 2024
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1 change: 1 addition & 0 deletions .eslintrc.cjs
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,7 @@ module.exports = {
'@typescript-eslint/no-useless-constructor': ['error'],
'@typescript-eslint/no-shadow': ['error'],
'@typescript-eslint/explicit-function-return-type': ['error', { allowExpressions: true }],
'@typescript-eslint/no-explicit-any': 'off',
'vue/no-unused-properties': [
'error',
{
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352 changes: 352 additions & 0 deletions src/components/configuration/MavlinkMessageActionConfig.vue
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@@ -0,0 +1,352 @@
<template>
<ExpansiblePanel no-top-divider no-bottom-divider :is-expanded="!interfaceStore.isOnPhoneScreen">
<template #title>MAVLink Message Actions</template>
<template #info>
<p>View, manage, and create MAVLink message actions.</p>
</template>
<template #content>
<div class="flex justify-center flex-col ml-2 mb-8 mt-2 w-[640px]">
<v-data-table
:items="allActionsConfigs"
items-per-page="10"
class="elevation-1 bg-transparent rounded-lg"
theme="dark"
:style="interfaceStore.globalGlassMenuStyles"
>
<template #headers>
<tr>
<th class="text-left">
<p class="text-[16px] font-bold">Name</p>
</th>
<th class="text-center">
<p class="text-[16px] font-bold">Message Type</p>
</th>
<th class="text-right">
<p class="text-[16px] font-bold">Actions</p>
</th>
</tr>
</template>
<template #item="{ item }">
<tr>
<td>
<div :id="item.id" class="flex items-center justify-left rounded-xl mx-1 w-[140px]">
<p class="whitespace-nowrap overflow-hidden text-overflow-ellipsis">{{ item.name }}</p>
</div>
</td>
<td>
<div :id="item.id" class="flex items-center justify-center rounded-xl mx-1 w-[200px]">
<p class="whitespace-nowrap overflow-hidden text-overflow-ellipsis">{{ item.messageType }}</p>
</div>
</td>
<td class="w-[200px] text-right">
<div class="flex items-center justify-center">
<v-btn
variant="outlined"
class="rounded-full mx-1"
icon="mdi-pencil"
size="x-small"
@click="openActionEditDialog(item.id)"
/>
<v-btn
variant="outlined"
class="rounded-full mx-1"
icon="mdi-play"
size="x-small"
@click="runAction(item.id)"
/>
<v-btn
variant="outlined"
class="rounded-full mx-1 pl-[3px] pt-[1px]"
icon="mdi-export"
size="x-small"
@click="exportAction(item.id)"
/>
<v-btn
variant="outlined"
class="rounded-full mx-1"
color="error"
icon="mdi-delete"
size="x-small"
@click="deleteActionConfig(item.id)"
/>
</div>
</td>
</tr>
</template>
<template #bottom>
<tr class="w-full">
<td colspan="3" class="text-center flex items-center justify-center h-[50px] mb-3 w-full gap-2">
<v-btn variant="outlined" class="rounded-lg" @click="openNewActionDialog()">
<v-icon start>mdi-plus</v-icon>
New MAVLink action
</v-btn>
<v-btn variant="outlined" class="rounded-lg" @click="importAction">
<v-icon start>mdi-import</v-icon>
Import action
</v-btn>
</td>
</tr>
</template>
<template #no-data>
<tr>
<td colspan="3" class="text-center flex items-center justify-center h-[50px] w-full">
<p class="text-[16px] ml-[170px] w-full">No MAVLink message actions found</p>
</td>
</tr>
</template>
</v-data-table>
</div>
</template>
</ExpansiblePanel>

<!-- Action Dialog -->
<v-dialog v-model="actionDialog.show" max-width="500px">
<v-card class="rounded-lg" :style="interfaceStore.globalGlassMenuStyles">
<v-card-title class="text-h6 font-weight-bold py-4 text-center">
{{ editMode ? 'Edit action' : 'Create new action' }}
</v-card-title>
<v-card-text class="px-8">
<v-form class="d-flex flex-column gap-2" @submit.prevent="saveActionConfig">
<v-text-field
v-model="newActionConfig.name"
label="Action Name"
required
variant="outlined"
density="compact"
/>
<v-select
v-model="newActionConfig.messageType"
:items="availableMessageTypes"
label="Message Type"
required
variant="outlined"
density="compact"
@update:model-value="resetActionConfig(newActionConfig.messageType)"
/>

<div v-if="newActionConfig.messageType" class="mt-4">
<h3 class="text-subtitle-1 font-weight-bold mb-2">Message Configuration</h3>
<div v-if="typeof messageFields !== 'string' && Object.keys(messageFields).length > 0">
<div v-for="(field, key) in messageFields" :key="key" class="mb-1">
<v-text-field
v-model.trim="newActionConfig.messageConfig[key].value"
:label="field.description + (field.units ? ` (${field.units})` : '')"
:placeholder="field.type"
variant="outlined"
density="compact"
:rules="[field.required ? (v) => !!v || 'This field is required' : () => true]"
/>
</div>
</div>
<div v-else>
<v-textarea
v-model="newActionConfig.messageConfig"
label="Message fields object"
variant="outlined"
density="compact"
hint="Insert a JSON object with the message fields here. Use {{ data_lake_key }} for dynamic values. Use { type: 'ENUM_VALUE' } for enum values (e.g.: MAV_CMD_COMPONENT_ARM_DISARM)."
persistent-hint
rows="12"
/>
</div>
</div>
</v-form>
</v-card-text>
<v-divider class="mt-2 mx-10" />
<v-card-actions>
<div class="flex justify-between items-center pa-2 w-full h-full" style="color: rgba(255, 255, 255, 0.5)">
<v-btn @click="closeActionDialog">Cancel</v-btn>
<div class="flex gap-x-10">
<v-btn @click="resetNewAction">Reset</v-btn>
<v-btn :disabled="!isFormValid" class="text-white" @click="saveActionConfig">
{{ editMode ? 'Save' : 'Create' }}
</v-btn>
</div>
</div>
</v-card-actions>
</v-card>
</v-dialog>
</template>

<script setup lang="ts">
import { computed, onMounted, reactive, ref } from 'vue'

import ExpansiblePanel from '@/components/ExpansiblePanel.vue'
import { openSnackbar } from '@/composables/snackbar'
import {
type MavlinkMessageActionConfig,
deleteMavlinkMessageActionConfig,
getAllMavlinkMessageActionConfigs,
getMavlinkMessageActionConfig,
registerMavlinkMessageActionConfig,
} from '@/libs/actions/mavlink-message-actions'
import { messageFieldDefinitions } from '@/libs/actions/mavlink-message-actions-message-definitions'
import { MAVLinkType } from '@/libs/connection/m2r/messages/mavlink2rest-enum'
import { executeActionCallback } from '@/libs/joystick/protocols/cockpit-actions'
import { useAppInterfaceStore } from '@/stores/appInterface'

const interfaceStore = useAppInterfaceStore()

const defaultMessageType = MAVLinkType.COMMAND_LONG
const defaultActionConfig = {
name: '',
messageType: defaultMessageType,
messageConfig: messageFieldDefinitions[defaultMessageType] || '',
}

const actionDialog = ref({ show: false })
const actionsConfigs = reactive<Record<string, MavlinkMessageActionConfig>>({})
const editMode = ref(false)
const newActionConfig = ref<MavlinkMessageActionConfig>(defaultActionConfig)

const availableMessageTypes = Object.values(MAVLinkType)

const messageFields = computed(() => {
const selectedType = newActionConfig.value.messageType
return messageFieldDefinitions[selectedType] || ''
})

const isFormValid = computed(() => {
if (!newActionConfig.value.name || !newActionConfig.value.messageType) {
return false
}

// If the message config is a string, it must be a valid JSON string
if (typeof newActionConfig.value.messageConfig === 'string') {
try {
JSON.parse(newActionConfig.value.messageConfig)
return true
} catch (error) {
return false
}
}

// Check if all required fields are filled
const fields = messageFieldDefinitions[newActionConfig.value.messageType] || {}
return Object.entries(fields).every(([key, field]) => {
return !field.required || newActionConfig.value.messageConfig[key] !== undefined
})
})

const loadActionsConfigs = (): void => {
Object.assign(actionsConfigs, getAllMavlinkMessageActionConfigs())
}

const allActionsConfigs = computed(() => {
return Object.entries(actionsConfigs).map(([id, action]) => ({ id, ...action }))
})

const deleteActionConfig = (id: string): void => {
delete actionsConfigs[id]
deleteMavlinkMessageActionConfig(id)
loadActionsConfigs()
}

const openNewActionDialog = (): void => {
editMode.value = false
resetNewAction()
actionDialog.value.show = true
}

const editActionConfig = (id: string): void => {
editMode.value = true
newActionConfig.value = JSON.parse(JSON.stringify(actionsConfigs[id]))
}

const openActionEditDialog = (id: string): void => {
editActionConfig(id)
actionDialog.value.show = true
}

const closeActionDialog = (): void => {
actionDialog.value.show = false
resetNewAction()
}

const resetActionConfig = (messageType: MAVLinkType = defaultMessageType): void => {
const exampleStringConfig = JSON.stringify(
{
target: 1,
exampleNumberField: 123,
exampleStringField: 'exampleStringValue',
exampleEnumField: { type: 'MAV_CMD_NAV_WAYPOINT' },
},
null,
2
)
newActionConfig.value.messageConfig = messageFieldDefinitions[messageType] || exampleStringConfig
}

const resetNewAction = (): void => {
newActionConfig.value = { ...defaultActionConfig }
}

const createActionConfig = (): void => {
editMode.value = false
registerMavlinkMessageActionConfig(newActionConfig.value)
loadActionsConfigs()
resetNewAction()
}

const saveActionConfig = (): void => {
createActionConfig()
closeActionDialog()
}

const runAction = (id: string): void => {
executeActionCallback(id)
}

const exportAction = (id: string): void => {
const action = getMavlinkMessageActionConfig(id)
if (!action) {
console.error('Action not found')
return
}
const json = JSON.stringify(action, null, 2)
const blob = new Blob([json], { type: 'application/json' })
const url = window.URL.createObjectURL(blob)
const a = document.createElement('a')
a.style.display = 'none'
a.href = url
a.download = `${id}.json`
document.body.appendChild(a)
a.click()
window.URL.revokeObjectURL(url)
a.remove()
}

const importAction = (): void => {
const input = document.createElement('input')
input.type = 'file'
input.accept = 'application/json'
input.onchange = (event) => {
const file = (event.target as HTMLInputElement).files?.[0]
if (file) {
const reader = new FileReader()
reader.onload = (e) => {
try {
const action = JSON.parse(e.target?.result as string) as MavlinkMessageActionConfig
registerMavlinkMessageActionConfig(action)
loadActionsConfigs()
} catch (error) {
openSnackbar({ message: `Cannot import action. ${error}`, variant: 'error', duration: 5000 })
}
}
reader.readAsText(file)
}
}
input.click()
input.remove()
}

onMounted(() => {
loadActionsConfigs()
})
</script>

<style scoped>
.v-data-table ::v-deep tbody tr:hover {
background-color: rgba(0, 0, 0, 0.1) !important;
}
</style>
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