Add exporting waypoints to file functionality

gcs/electron/main.ts

@@ -5,7 +5,7 @@ import path from 'node:path'
 import packageInfo from '../package.json'
 
 // @ts-expect-error - no types available
-import openFile, { getRecentFiles, clearRecentFiles } from './fla'
+import openFile, { clearRecentFiles, getRecentFiles } from './fla'
 // The built directory structure
 //
 // ├─┬─┬ dist
@@ -448,6 +448,16 @@ app.whenReady().then(() => {
   // Clear recent logs
   ipcMain.handle('fla:clear-recent-logs', clearRecentFiles)
 
+  // Save mission file
+  ipcMain.handle('missions:get-save-mission-file-path', async (event, options) => {
+    const window = BrowserWindow.fromWebContents(event.sender);
+    if (!window) {
+      throw new Error('No active window found')
+    }
+    const result = await dialog.showSaveDialog(window, options);
+    return result;
+  })
+
   ipcMain.handle('app:get-node-env', () =>
     app.isPackaged ? 'production' : 'development',
   )

gcs/electron/preload.js

@@ -1,18 +1,22 @@
-import { contextBridge, ipcRenderer } from 'electron'
+import { contextBridge, ipcRenderer } from "electron"
 
 // --------- Expose some API to the Renderer process ---------
-contextBridge.exposeInMainWorld('ipcRenderer', {
+contextBridge.exposeInMainWorld("ipcRenderer", {
   ...withPrototype(ipcRenderer),
-  loadFile: (data) => ipcRenderer.invoke('fla:open-file', data),
-  getRecentLogs: () => ipcRenderer.invoke('fla:get-recent-logs'),
-  clearRecentLogs: () => ipcRenderer.invoke('fla:clear-recent-logs'),
-  getNodeEnv: () => ipcRenderer.invoke('app:get-node-env'),
-  getVersion: () => ipcRenderer.invoke('app:get-version'),
-  getSettings: () => ipcRenderer.invoke('getSettings'),
-  saveSettings: (settings) => ipcRenderer.invoke('setSettings', settings),
-  openWebcamWindow: (id, name, aspect) => ipcRenderer.invoke("openWebcamWindow", id, name, aspect),
-  closeWebcamWindow: () => ipcRenderer.invoke('closeWebcamWindow'),
-  onCameraWindowClose: (callback) => ipcRenderer.on("webcam-closed", () => callback())
+  loadFile: (data) => ipcRenderer.invoke("fla:open-file", data),
+  getRecentLogs: () => ipcRenderer.invoke("fla:get-recent-logs"),
+  clearRecentLogs: () => ipcRenderer.invoke("fla:clear-recent-logs"),
+  getSaveMissionFilePath: (options) =>
+    ipcRenderer.invoke("missions:get-save-mission-file-path", options),
+  getNodeEnv: () => ipcRenderer.invoke("app:get-node-env"),
+  getVersion: () => ipcRenderer.invoke("app:get-version"),
+  getSettings: () => ipcRenderer.invoke("getSettings"),
+  saveSettings: (settings) => ipcRenderer.invoke("setSettings", settings),
+  openWebcamWindow: (id, name, aspect) =>
+    ipcRenderer.invoke("openWebcamWindow", id, name, aspect),
+  closeWebcamWindow: () => ipcRenderer.invoke("closeWebcamWindow"),
+  onCameraWindowClose: (callback) =>
+    ipcRenderer.on("webcam-closed", () => callback()),
 })
 
 // `exposeInMainWorld` can't detect attributes and methods of `prototype`, manually patching it.
@@ -22,7 +26,7 @@ function withPrototype(obj) {
   for (const [key, value] of Object.entries(protos)) {
     if (Object.prototype.hasOwnProperty.call(obj, key)) continue
 
-    if (typeof value === 'function') {
+    if (typeof value === "function") {
       // Some native APIs, like `NodeJS.EventEmitter['on']`, don't work in the Renderer process. Wrapping them into a function.
       obj[key] = function (...args) {
         return value.call(obj, ...args)
@@ -35,12 +39,12 @@ function withPrototype(obj) {
 }
 
 // --------- Preload scripts loading ---------
-function domReady(condition = ['complete', 'interactive']) {
+function domReady(condition = ["complete", "interactive"]) {
   return new Promise((resolve) => {
     if (condition.includes(document.readyState)) {
       resolve(true)
     } else {
-      document.addEventListener('readystatechange', () => {
+      document.addEventListener("readystatechange", () => {
         if (condition.includes(document.readyState)) {
           resolve(true)
         }
@@ -97,12 +101,12 @@ function useLoading() {
   z-index: 9;
 }
     `
-  const oStyle = document.createElement('style')
-  const oDiv = document.createElement('div')
+  const oStyle = document.createElement("style")
+  const oDiv = document.createElement("div")
 
-  oStyle.id = 'app-loading-style'
+  oStyle.id = "app-loading-style"
   oStyle.innerHTML = styleContent
-  oDiv.className = 'app-loading-wrap'
+  oDiv.className = "app-loading-wrap"
   oDiv.innerHTML = `<div class="${className}"><div></div></div>`
 
   return {
@@ -124,7 +128,7 @@ const { appendLoading, removeLoading } = useLoading()
 domReady().then(appendLoading)
 
 window.onmessage = (ev) => {
-  ev.data.payload === 'removeLoading' && removeLoading()
+  ev.data.payload === "removeLoading" && removeLoading()
 }
 
 setTimeout(removeLoading, 4999)

gcs/src/missions.jsx

@@ -135,6 +135,7 @@ export default function Missions() {
         for (let missionItem of data.items) {
           missionItemsWithIds.push(addIdToItem(missionItem))
         }
+        updateHomePositionBasedOnWaypoints(missionItemsWithIds)
         setMissionItems(missionItemsWithIds)
       } else if (data.mission_type === "fence") {
         setFenceItems(data.items)
@@ -164,6 +165,9 @@ export default function Missions() {
           for (let missionItem of data.items) {
             missionItemsWithIds.push(addIdToItem(missionItem))
           }
+
+          updateHomePositionBasedOnWaypoints(missionItemsWithIds)
+
           setMissionItems(missionItemsWithIds)
         } else if (data.mission_type === "fence") {
           setFenceItems(data.items)
@@ -180,13 +184,22 @@ export default function Missions() {
       }
     })
 
+    socket.on("export_mission_result", (data) => {
+      if (data.success) {
+        showSuccessNotification(data.message)
+      } else {
+        showErrorNotification(data.message)
+      }
+    })
+
     return () => {
       socket.off("incoming_msg")
       socket.off("home_position_result")
       socket.off("target_info")
       socket.off("current_mission")
       socket.off("write_mission_result")
       socket.off("import_mission_result")
+      socket.off("export_mission_result")
     }
   }, [connected])
 
@@ -196,6 +209,33 @@ export default function Missions() {
     }
   }, [importFile])
 
+  function isGlobalFrameHomeCommand(waypoint) {
+    const globalFrameValue = parseInt(
+      Object.keys(MAV_FRAME_LIST).find(
+        (key) => MAV_FRAME_LIST[key] === "MAV_FRAME_GLOBAL",
+      ),
+    )
+    return (
+      waypoint.frame === globalFrameValue &&
+      waypoint.x !== 0 &&
+      waypoint.y !== 0 &&
+      waypoint.command === 16
+    )
+  }
+
+  function updateHomePositionBasedOnWaypoints(waypoints) {
+    if (waypoints.length > 0) {
+      const potentialHomeLocation = waypoints[0]
+      if (isGlobalFrameHomeCommand(potentialHomeLocation)) {
+        setHomePosition({
+          lat: potentialHomeLocation.x,
+          lon: potentialHomeLocation.y,
+          alt: potentialHomeLocation.z,
+        })
+      }
+    }
+  }
+
   function getFlightMode() {
     if (aircraftType === 1) {
       return PLANE_MODES_FLIGHT_MODE_MAP[heartbeatData.custom_mode]
@@ -333,8 +373,34 @@ export default function Missions() {
     importFileResetRef.current?.()
   }
 
-  function saveMissionToFile() {
-    return
+  async function saveMissionToFile() {
+    // The options for the save dialog
+    const options = {
+      title: "Save the mission to a file",
+      filters: [
+        { name: "Waypoint Files", extensions: ["waypoints"] },
+        { name: "All Files", extensions: ["*"] },
+      ],
+    }
+
+    const result = await window.ipcRenderer.getSaveMissionFilePath(options)
+
+    if (!result.canceled) {
+      let items = []
+      if (activeTab === "mission") {
+        items = missionItems
+      } else if (activeTab === "fence") {
+        items = fenceItems
+      } else if (activeTab === "rally") {
+        items = rallyItems
+      }
+
+      socket.emit("export_mission_to_file", {
+        type: activeTab,
+        file_path: result.filePath,
+        items: items,
+      })
+    }
   }
 
   return (

radio/app/controllers/missionController.py

@@ -4,7 +4,7 @@
 from typing import TYPE_CHECKING, Any, List
 
 import serial
-from app.customTypes import Response
+from app.customTypes import Number, Response
 from app.utils import commandAccepted
 from pymavlink import mavutil, mavwp
 
@@ -28,6 +28,9 @@ def __init__(self, drone: Drone) -> None:
 
         self.drone = drone
 
+        # Loaders are only used to manage the mission items that are currently loaded in the drone.
+        # Importing and exporting mission items to/from files do not use loaders as these waypoints
+        # are not then loaded into the drone's mission items.
         self.missionLoader = mavwp.MAVWPLoader(
             target_system=drone.target_system, target_component=drone.target_component
         )
@@ -46,6 +49,18 @@ def _checkMissionType(self, mission_type: int) -> Response:
             }
         return {"success": True}
 
+    def _convertCoordinate(self, coordinate) -> Number:
+        gps_coordinate_scale = 1e7
+
+        if isinstance(coordinate, float):
+            return int(coordinate * gps_coordinate_scale)
+        elif isinstance(coordinate, int):
+            return coordinate / gps_coordinate_scale
+
+        raise ValueError(
+            f"Invalid coordinate type {type(coordinate)}. Must be int or float."
+        )
+
     def getCurrentMission(self, mission_type: int) -> Response:
         """
         Get the current mission of a specific type from the drone.
@@ -464,6 +479,9 @@ def _parseWaypointsListIntoLoader(
                 )
                 raise ValueError(f"Invalid waypoint type {type(wp)} in waypoints list")
 
+        self.drone.logger.debug(
+            f"Parsed {loader.count()} waypoints into loader for mission type {mission_type}"
+        )
         return loader
 
     def uploadMission(self, mission_type: int, waypoints: List[dict]) -> Response:
@@ -570,7 +588,7 @@ def uploadMission(self, mission_type: int, waypoints: List[dict]) -> Response:
 
     def importMissionFromFile(self, mission_type: int, file_path: str) -> Response:
         """
-        Imports a mission from a file into the drone's mission loader, return the waypoints loaded.
+        Imports a mission from a file, return the waypoints loaded.
 
         Args:
             mission_type (int): The type of mission to import. 0=Mission,1=Fence,2=Rally.
@@ -592,11 +610,20 @@ def importMissionFromFile(self, mission_type: int, file_path: str) -> Response:
         )
 
         if mission_type == TYPE_MISSION:
-            loader = self.missionLoader
+            loader = mavwp.MAVWPLoader(
+                target_system=self.drone.target_system,
+                target_component=self.drone.target_component,
+            )
         elif mission_type == TYPE_FENCE:
-            loader = self.fenceLoader
+            loader = mavwp.MissionItemProtocol_Fence(
+                target_system=self.drone.target_system,
+                target_component=self.drone.target_component,
+            )
         else:
-            loader = self.rallyLoader
+            loader = mavwp.MissionItemProtocol_Rally(
+                target_system=self.drone.target_system,
+                target_component=self.drone.target_component,
+            )
 
         try:
             loader.load(file_path)
@@ -622,10 +649,8 @@ def importMissionFromFile(self, mission_type: int, file_path: str) -> Response:
 
         for wp in loader.wpoints:
             if hasattr(wp, "x") and hasattr(wp, "y"):
-                if isinstance(wp.x, float):
-                    wp.x = int(wp.x * 1e7)
-                if isinstance(wp.y, float):
-                    wp.y = int(wp.y * 1e7)
+                wp.x = self._convertCoordinate(wp.x)
+                wp.y = self._convertCoordinate(wp.y)
 
         self.drone.logger.info(
             f"Loaded waypoint file with {loader.count()} points successfully"
@@ -635,3 +660,52 @@ def importMissionFromFile(self, mission_type: int, file_path: str) -> Response:
             "message": f"Waypoint file loaded {loader.count()} points successfully",
             "data": [wp.to_dict() for wp in loader.wpoints],
         }
+
+    def exportMissionToFile(
+        self, mission_type: int, file_path: str, waypoints: List[dict]
+    ) -> Response:
+        """
+        Exports a mission to a file from a given list of waypoints.
+
+        Args:
+            mission_type (int): The type of mission to export. 0=Mission,1=Fence,2=Rally.
+            file_path (str): The path to the waypoint file to export.
+            waypoints (List[dict]): The list of waypoints to upload. Each waypoint should be a dict with the required fields.
+        """
+        mission_type_check = self._checkMissionType(mission_type)
+        if not mission_type_check.get("success"):
+            return mission_type_check
+
+        loader = self._parseWaypointsListIntoLoader(waypoints, mission_type)
+
+        for wp in loader.wpoints:
+            if hasattr(wp, "x") and hasattr(wp, "y"):
+                wp.x = self._convertCoordinate(wp.x)
+                wp.y = self._convertCoordinate(wp.y)
+
+        if loader.count() == 0:
+            return {
+                "success": False,
+                "message": f"No waypoints loaded for the mission type of {mission_type}",
+            }
+
+        self.drone.logger.debug(
+            f"Exporting waypoint file to {file_path} for mission type {mission_type}"
+        )
+
+        try:
+            loader.save(file_path)
+        except Exception as e:
+            self.drone.logger.error(f"Failed to save waypoint file: {e}")
+            return {
+                "success": False,
+                "message": f"Failed to save waypoint file: {e}",
+            }
+
+        self.drone.logger.info(
+            f"Saved waypoint file with {loader.count()} points successfully to {file_path}"
+        )
+        return {
+            "success": True,
+            "message": f"Waypoint file saved {loader.count()} points successfully to {file_path}",
+        }