899 add a failsafes config page

gcs/src/config.jsx

@@ -11,7 +11,9 @@ import { useEffect } from "react"
 import { Tabs } from "@mantine/core"
 
 // Custom component and helpers
+import Failsafes from "./components/config/failsafe"
 import FlightModes from "./components/config/flightModes"
+import Ftp from "./components/config/ftp"
 import Gripper from "./components/config/gripper"
 import Motortestpanel from "./components/config/motorTest"
 import RadioCalibration from "./components/config/radioCalibration"
@@ -20,7 +22,6 @@ import NoDroneConnected from "./components/noDroneConnected"
 
 // Redux
 import { useDispatch, useSelector } from "react-redux"
-import Ftp from "./components/config/ftp"
 import { selectActiveTab, setActiveTab } from "./redux/slices/configSlice"
 import { selectConnectedToDrone } from "./redux/slices/droneConnectionSlice"
 import SerialPorts from "./components/config/serialPorts"
@@ -41,7 +42,7 @@ export default function Config() {
   return (
     <Layout currentPage="config">
       {connected ? (
-        <div className="w-full h-full">
+        <div className="size-full">
           <Tabs
             orientation="vertical"
             color={"red"}
@@ -55,6 +56,7 @@ export default function Config() {
               <Tabs.Tab value="motor_test">Motor Test</Tabs.Tab>
               <Tabs.Tab value="rc_calibration">RC Calibration</Tabs.Tab>
               <Tabs.Tab value="flightmodes">Flight modes</Tabs.Tab>
+              <Tabs.Tab value="failsafes">Failsafes</Tabs.Tab>
               <Tabs.Tab value="servo">Servo Output</Tabs.Tab>
               <Tabs.Tab value="serial_ports">Serial Ports</Tabs.Tab>
               <Tabs.Tab value="ftp">FTP</Tabs.Tab>
@@ -79,6 +81,11 @@ export default function Config() {
                 <FlightModes />
               </div>
             </Tabs.Panel>
+            <Tabs.Panel value="failsafes">
+              <div className="size-full">
+                <Failsafes />
+              </div>
+            </Tabs.Panel>
             <Tabs.Panel value="servo">
               <div className={paddingTop}>
                 <ServoOutput />

gcs/src/redux/middleware/emitters.js

@@ -1,6 +1,7 @@
 import { showErrorNotification } from "../../helpers/notification"
 import {
   emitBatchSetRcConfigParams,
+  emitGetFailsafeConfig,
   emitBatchSetServoConfigParams,
   emitGetFlightModeConfig,
   emitGetFrameConfig,
@@ -14,6 +15,7 @@ import {
   emitSetFlightModeChannel,
   emitSetGripper,
   emitSetGripperConfigParam,
+  emitSetFailsafeConfigParam,
   emitSetGripperDisabled,
   emitSetGripperEnabled,
   emitSetRcConfigParam,
@@ -22,6 +24,7 @@ import {
   emitTestAllMotors,
   emitTestMotorSequence,
   emitTestOneMotor,
+  setRefreshingFailsafeConfigData,
   emitTestServoPwm,
   setRefreshingGripperConfigData,
 } from "../slices/configSlice"
@@ -351,6 +354,22 @@ export function handleEmitters(socket, store, action) {
       = CONFIG =
       ==========
     */
+    {
+      emitter: emitGetFailsafeConfig,
+      callback: () => {
+        socket.socket.emit("get_failsafe_config")
+        store.dispatch(setRefreshingFailsafeConfigData(true))
+      },
+    },
+    {
+      emitter: emitSetFailsafeConfigParam,
+      callback: () => {
+        socket.socket.emit("set_failsafe_config_param", {
+          param_id: action.payload.param_id,
+          value: action.payload.value,
+        })
+      },
+    },
     {
       emitter: emitGetGripperEnabled,
       callback: () => socket.socket.emit("get_gripper_enabled"),

gcs/src/redux/middleware/socketMiddleware.js

@@ -50,6 +50,7 @@ import {
   emitGetGripperConfig,
   setChannelsConfig,
   setCurrentPwmValue,
+  setFailsafeConfig,
   setFlightModeChannel,
   setFlightModesList,
   setFrameClass,
@@ -61,13 +62,15 @@ import {
   setNumberOfMotors,
   setRadioCalibrationModalOpen,
   setRadioPwmChannels,
+  setRefreshingFailsafeConfigData,
   setRefreshingFlightModeData,
   setRefreshingGripperConfigData,
   setSerialPortsConfig,
   setServoConfig,
   setServoPwmOutputs,
   setShowMotorTestWarningModal,
   updateChannelsConfigParam,
+  updateFailsafeConfigParam,
   updateGripperConfigParam,
   updateSerialPortConfigParam,
   updateServoConfigParam,
@@ -195,12 +198,14 @@ const MissionSpecificSocketEvents = Object.freeze({
 })
 
 const ConfigSpecificSocketEvents = Object.freeze({
+  onFailsafeConfig: "failsafe_config",
   onGripperEnabled: "is_gripper_enabled",
   onSetGripperEnabledResult: "set_gripper_enabled_result",
   onSetGripperDisabledResult: "set_gripper_disabled_result",
   onSetGripperResult: "set_gripper_result",
   onGripperConfig: "gripper_config",
   setGripperParamResult: "set_gripper_param_result",
+  setFailsafeParamResult: "set_failsafe_param_result",
   onMotorTestResult: "motor_test_result",
   onFlightModeConfig: "flight_mode_config",
   onSetFlightModeResult: "set_flight_mode_result",
@@ -1237,6 +1242,11 @@ const socketMiddleware = (store) => {
           = CONFIG =
           ==========
         */
+        socket.socket.on(ConfigSpecificSocketEvents.onFailsafeConfig, (msg) => {
+          store.dispatch(setFailsafeConfig(msg.params))
+          store.dispatch(setRefreshingFailsafeConfigData(false))
+        })
+
         socket.socket.on(
           ConfigSpecificSocketEvents.onGripperEnabled,
           (enabled) => {
@@ -1303,6 +1313,23 @@ const socketMiddleware = (store) => {
           },
         )
 
+        socket.socket.on(
+          ConfigSpecificSocketEvents.setFailsafeParamResult,
+          (msg) => {
+            if (msg.success) {
+              showSuccessNotification(msg.message)
+              store.dispatch(
+                updateFailsafeConfigParam({
+                  param_id: msg.param_id,
+                  value: msg.value,
+                }),
+              )
+            } else {
+              showErrorNotification(msg.message)
+            }
+          },
+        )
+
         socket.socket.on(
           ConfigSpecificSocketEvents.onMotorTestResult,
           (msg) => {

gcs/src/redux/slices/configSlice.js

@@ -4,6 +4,8 @@ const configSlice = createSlice({
   name: "config",
   initialState: {
     activeTab: null,
+    failsafeConfig: {},
+    refreshingFailsafeConfigData: false,
     getGripperEnabled: false,
     gripperConfig: {},
     refreshingGripperConfigData: false,
@@ -82,6 +84,19 @@ const configSlice = createSlice({
       if (state.gripperConfig[param_id] === value) return
       state.gripperConfig[param_id] = value
     },
+    setFailsafeConfig: (state, action) => {
+      if (action.payload === state.failsafeConfig) return
+      state.failsafeConfig = action.payload
+    },
+    updateFailsafeConfigParam: (state, action) => {
+      const { param_id, value } = action.payload
+      if (state.failsafeConfig[param_id] === value) return
+      state.failsafeConfig[param_id] = value
+    },
+    setRefreshingFailsafeConfigData: (state, action) => {
+      if (action.payload === state.refreshingFailsafeConfigData) return
+      state.refreshingFailsafeConfigData = action.payload
+    },
     setRefreshingGripperConfigData: (state, action) => {
       if (action.payload === state.refreshingGripperConfigData) return
       state.refreshingGripperConfigData = action.payload
@@ -214,11 +229,13 @@ const configSlice = createSlice({
     },
 
     // Emits
+    emitGetFailsafeConfig: () => {},
     emitGetGripperEnabled: () => {},
     emitSetGripperEnabled: () => {},
     emitSetGripperDisabled: () => {},
     emitGetGripperConfig: () => {},
     emitSetGripperConfigParam: () => {},
+    emitSetFailsafeConfigParam: () => {},
     emitGetFlightModeConfig: () => {},
     emitSetFlightMode: () => {},
     emitSetFlightModeChannel: () => {},
@@ -241,6 +258,9 @@ const configSlice = createSlice({
   },
   selectors: {
     selectActiveTab: (state) => state.activeTab,
+    selectFailsafeConfig: (state) => state.failsafeConfig,
+    selectRefreshingFailsafeConfigData: (state) =>
+      state.refreshingFailsafeConfigData,
     selectGetGripperEnabled: (state) => state.getGripperEnabled,
     selectGripperConfig: (state) => state.gripperConfig,
     selectRefreshingGripperConfigData: (state) =>
@@ -266,9 +286,12 @@ const configSlice = createSlice({
 
 export const {
   setActiveTab,
+  setFailsafeConfig,
   setGetGripperEnabled,
   setGripperConfig,
   updateGripperConfigParam,
+  updateFailsafeConfigParam,
+  setRefreshingFailsafeConfigData,
   setRefreshingGripperConfigData,
   setFlightModesList,
   setFlightModeChannel,
@@ -290,11 +313,13 @@ export const {
   setSerialPortsConfig,
   updateSerialPortConfigParam,
 
+  emitGetFailsafeConfig,
   emitGetGripperEnabled,
   emitSetGripperEnabled,
   emitSetGripperDisabled,
   emitGetGripperConfig,
   emitSetGripperConfigParam,
+  emitSetFailsafeConfigParam,
   emitGetFlightModeConfig,
   emitSetFlightMode,
   emitSetFlightModeChannel,
@@ -318,6 +343,8 @@ export const {
 
 export const {
   selectActiveTab,
+  selectFailsafeConfig,
+  selectRefreshingFailsafeConfigData,
   selectGetGripperEnabled,
   selectGripperConfig,
   selectRefreshingGripperConfigData,

radio/app/controllers/failsafeController.py

@@ -0,0 +1,81 @@
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+from app.customTypes import Number, VehicleType
+
+if TYPE_CHECKING:
+    from app.drone import Drone
+
+COMMON_FAILSAFE_PARAMS = [
+    "BATT_LOW_VOLT",
+    "BATT_LOW_MAH",
+    "BATT_FS_LOW_ACT",
+    "BATT_CRT_VOLT",
+    "BATT_CRT_MAH",
+    "BATT_FS_CRT_ACT",
+]
+
+COPTER_FS_PARAMS = [
+    "FS_THR_ENABLE",
+    "RC_FS_TIMEOUT",
+    "FS_GCS_TIMEOUT",
+    "FS_GCS_ENABLE",
+    "FS_EKF_THRESH",
+    "FS_EKF_ACTION",
+]
+
+PLANE_FS_PARAMS = [
+    "THR_FS_VALUE",
+    "THR_FAILSAFE",
+    "FS_GCS_ENABL",
+    "FS_SHORT_ACTN",
+    "FS_LONG_ACTN",
+    "FS_SHORT_TIMEOUT",
+    "FS_LONG_TIMEOUT",
+]
+
+
+class FailsafeController:
+    def __init__(self, drone: Drone) -> None:
+        self.drone = drone
+
+        self.params: dict = {}
+
+        self.valid_params = []
+        if self.drone.aircraft_type == VehicleType.FIXED_WING.value:
+            self.valid_params = COMMON_FAILSAFE_PARAMS + PLANE_FS_PARAMS
+        if self.drone.aircraft_type == VehicleType.MULTIROTOR.value:
+            self.valid_params = COMMON_FAILSAFE_PARAMS + COPTER_FS_PARAMS
+
+        self.getFailsafeParams()
+
+    def getConfig(self):
+        config = {}
+        for param in self.valid_params:
+            self.params[param] = self.drone.paramsController.getSingleParam(param)
+            config[param] = self.params[param].get("param_value", "UNKNOWN")
+
+        return config
+
+    def setFailsafeParam(self, param_id: str, value: Number) -> bool:
+        """
+        Sets a failsafe related parameter on the drone.
+        """
+        if param_id not in self.valid_params:
+            self.drone.logger.error(
+                f"Parameter {param_id} is not a valid failsafe parameter"
+            )
+            return False
+
+        param_type = self.params.get(param_id, {}).get("param_type", None)
+
+        return self.drone.paramsController.setParam(param_id, value, param_type)
+
+    def getFailsafeParams(self) -> None:
+        """
+        Gets the gripper related parameters from the drone.
+        """
+        self.drone.logger.debug("Fetching gripper parameters")
+        for param in self.valid_params:
+            self.params[param] = self.drone.paramsController.getSingleParam(param)

radio/app/controllers/flightModesController.py

@@ -5,7 +5,7 @@
 from typing import TYPE_CHECKING, List, Union
 
 import serial
-from app.customTypes import Number, Response
+from app.customTypes import Number, Response, VehicleType
 from app.utils import commandAccepted, sendingCommandLock
 from pymavlink import mavutil
 
@@ -87,7 +87,7 @@ def setFlightMode(self, mode_number: int, flight_mode: int) -> Response:
                 "message": f"Invalid flight mode number, must be between 1 and 6 inclusive, got {mode_number}.",
             }
 
-        if self.drone.aircraft_type == 1:
+        if self.drone.aircraft_type == VehicleType.FIXED_WING.value:
             if (flight_mode < 0) or (flight_mode > 24):
                 return {
                     "success": False,
@@ -219,7 +219,7 @@ def setGuidedMode(self) -> Response:
 
         mode = mavutil.mavlink.COPTER_MODE_GUIDED
 
-        if self.drone.aircraft_type == 1:
+        if self.drone.aircraft_type == VehicleType.FIXED_WING.value:
             mode = mavutil.mavlink.PLANE_MODE_GUIDED
 
         return self.setCurrentFlightMode(mode)

radio/app/controllers/frameController.py

@@ -2,7 +2,7 @@
 
 from typing import TYPE_CHECKING, Union
 
-from app.customTypes import Number
+from app.customTypes import Number, VehicleType
 
 if TYPE_CHECKING:
     from app.drone import Drone
@@ -21,7 +21,7 @@ def __init__(self, drone: Drone) -> None:
         self.frame_class: Number = 0
 
         # Plane type doesn't have a frame type or class
-        if self.drone.aircraft_type != 1:
+        if self.drone.aircraft_type != VehicleType.FIXED_WING.value:
             self.getFrameType()
             self.getFrameClass()