Alpha 0.1.10/701 fix reboot functionality

gcs/src/params.jsx

@@ -81,10 +81,10 @@ export default function Params() {
 
   return (
     <Layout currentPage="params">
+      <AutopilotRebootModal />
+
       {connected ? (
         <>
-          <AutopilotRebootModal />
-
           {fetchingVars && (
             <Progress
               radius="xs"

gcs/src/redux/middleware/emitters.js

@@ -7,6 +7,7 @@ import {
   emitGetLoiterRadius,
   emitIsConnectedToDrone,
   emitSetState,
+  setState,
 } from "../slices/droneConnectionSlice"
 import {
   emitExportMissionToFile,
@@ -47,7 +48,10 @@ export function handleEmitters(socket, store, action) {
     },
     {
       emitter: emitSetState,
-      callback: () => socket.socket.emit("set_state", action.payload),
+      callback: () => {
+        store.dispatch(setState(action.payload))
+        socket.socket.emit("set_state", action.payload)
+      },
     },
     {
       emitter: emitGetHomePosition,

gcs/src/redux/middleware/socketMiddleware.js

@@ -261,11 +261,18 @@ const socketMiddleware = (store) => {
           store.dispatch(setConnecting(false))
           store.dispatch(setConnectionModal(false))
 
-          store.dispatch(emitSetState({ state: "dashboard" }))
-          store.dispatch(emitGetHomePosition()) // use actual home position
-          if (msg.aircraft_type === 1) {
-            store.dispatch(emitGetLoiterRadius())
+          const currentState = store.getState().droneConnection
+          store.dispatch(emitSetState(currentState))
+
+          if (["dashboard", "missions"].includes(currentState.state)) {
+            store.dispatch(emitGetHomePosition()) // fetch the actual home position of the drone
+            if (msg.aircraft_type === 1) {
+              store.dispatch(emitGetLoiterRadius())
+            }
           }
+
+          store.dispatch(setRebootData({}))
+          store.dispatch(setAutoPilotRebootModalOpen(false))
         })
 
         // Link stats
@@ -321,6 +328,8 @@ const socketMiddleware = (store) => {
           store.dispatch(setRebootData(msg))
           if (msg.success) {
             store.dispatch(setAutoPilotRebootModalOpen(false))
+            store.dispatch(queueSuccessNotification(msg.message))
+            store.dispatch(setRebootData({}))
           }
         })
 

gcs/src/redux/slices/droneConnectionSlice.js

@@ -29,6 +29,8 @@ const initialState = {
   network_type: "tcp", // local
   ip: "127.0.0.1", // local
   port: "5760", // local
+
+  state: "dashboard",
 }
 
 const droneConnectionSlice = createSlice({
@@ -101,6 +103,11 @@ const droneConnectionSlice = createSlice({
         state.wireless = action.payload
       }
     },
+    setState: (state, action) => {
+      if (action.payload !== state.state) {
+        state.state = action.payload
+      }
+    },
 
     // Emits
     emitIsConnectedToDrone: () => {},
@@ -128,6 +135,7 @@ const droneConnectionSlice = createSlice({
     selectConnectionModal: (state) => state.connection_modal,
     selectConnectionStatus: (state) => state.connection_status,
     selectWireless: (state) => state.wireless,
+    selectState: (state) => state.state,
   },
 })
 
@@ -146,6 +154,7 @@ export const {
   setConnectionModal,
   setConnectionStatus,
   setWireless,
+  setState,
 
   // Emitters
   emitIsConnectedToDrone,
@@ -171,6 +180,7 @@ export const {
   selectConnectionModal,
   selectConnectionStatus,
   selectWireless,
+  selectState,
 } = droneConnectionSlice.selectors
 
 export default droneConnectionSlice

radio/app.py

@@ -1,7 +1,8 @@
 import os
+from pathlib import Path
+
 import app.droneStatus as droneStatus
 from app import create_app, socketio
-from pathlib import Path
 from dotenv import load_dotenv
 
 app = create_app(debug=True)
@@ -20,7 +21,6 @@
         host = "127.0.0.1"
 
     print("Starting backend.")
-    print(host)
     socketio.run(app, allow_unsafe_werkzeug=True, host=host, port=port)
     if droneStatus.drone:
         droneStatus.drone.close()

radio/app/controllers/paramsController.py

@@ -30,7 +30,7 @@ def __init__(self, drone: Drone) -> None:
         self.getAllParamsThread: Optional[Thread] = None
 
     @sendingCommandLock
-    def getSingleParam(self, param_name: str, timeout: Optional[float] = 5) -> Response:
+    def getSingleParam(self, param_name: str, timeout: float = 3) -> Response:
         """
         Gets a specific parameter value.
 
@@ -53,18 +53,29 @@ def getSingleParam(self, param_name: str, timeout: Optional[float] = 5) -> Respo
         )
 
         try:
-            response = self.drone.master.recv_match(
-                type="PARAM_VALUE", blocking=True, timeout=timeout
-            )
+            start_time = time.time()
+            response = None
+            while time.time() - start_time < timeout:
+                # timeout of 0.2 to recv_match to allow checking the overall timeout and not block forever
+                msg = self.drone.master.recv_match(
+                    type="PARAM_VALUE", blocking=True, timeout=0.2
+                )
+
+                if msg is None:
+                    continue
 
-            if response and response.param_id == param_name:
-                self.drone.is_listening = True
+                if msg.param_id == param_name:
+                    response = msg
+                    break
+
+            self.drone.is_listening = True
+            if response:
                 return {
                     "success": True,
                     "data": response,
                 }
             else:
-                self.drone.is_listening = True
+                self.drone.logger.error(f"Did not receive {param_name} within timeout")
                 return {
                     "success": False,
                     "message": f"{failure_message}, timed out",

radio/app/drone.py

@@ -99,7 +99,7 @@ def __init__(
 
         self.connectionError: Optional[str] = None
 
-        self.logger.debug("Trying to setup master")
+        self.logger.debug(f"Trying to setup master with port {port} and baud {baud}")
 
         if not Drone.checkBaudrateValid(baud):
             self.connectionError = (

radio/app/endpoints/autopilot.py

@@ -8,8 +8,10 @@
 @socketio.on("reboot_autopilot")
 def rebootAutopilot() -> None:
     """
-    Attempt to reboot the autopilot, this will try to reconnect to the drone 3 times before stopping. This will also stop if the port
-    is not open for 10 seconds.
+    Attempt to reboot the autopilot, this will try to reconnect to the drone 3 times before stopping.
+
+    Note: If SITL is running and you are connected via TCP 5763 then rebooting does not work as expected.
+    Use TCP 5760 instead.
     """
     if not droneStatus.drone:
         return
@@ -20,12 +22,20 @@ def rebootAutopilot() -> None:
     droneErrorCb = droneStatus.drone.droneErrorCb
     droneDisconnectCb = droneStatus.drone.droneDisconnectCb
     droneConnectStatusCb = droneStatus.drone.droneConnectStatusCb
+    linkDebugStatsCb = droneStatus.drone.linkDebugStatsCb
+
     socketio.emit("disconnected_from_drone")
+
     droneStatus.drone.rebootAutopilot()
 
-    while droneStatus.drone is not None and droneStatus.drone.is_active.is_set():
+    while droneStatus.drone.is_active.is_set():
+        print("Waiting for drone to disconnect...")
         time.sleep(0.05)
 
+    droneStatus.drone = None
+
+    time.sleep(1.5)  # Wait for the port to be released and let the autopilot reboot
+
     tries = 0
     while tries < 3:
         droneStatus.drone = Drone(
@@ -35,13 +45,15 @@ def rebootAutopilot() -> None:
             droneErrorCb=droneErrorCb,
             droneDisconnectCb=droneDisconnectCb,
             droneConnectStatusCb=droneConnectStatusCb,
+            linkDebugStatsCb=linkDebugStatsCb,
         )
         if droneStatus.drone.connectionError:
             tries += 1
             time.sleep(2)
         else:
             break
     else:
+        droneStatus.drone = None
         logger.error("Could not reconnect to drone after 3 attempts.")
         socketio.emit(
             "reboot_autopilot",
@@ -53,7 +65,9 @@ def rebootAutopilot() -> None:
         return
 
     time.sleep(1)
-    socketio.emit("connected_to_drone")
+    socketio.emit(
+        "connected_to_drone", {"aircraft_type": droneStatus.drone.aircraft_type}
+    )
     logger.info("Rebooted autopilot successfully.")
     socketio.emit(
         "reboot_autopilot",

radio/tests/helpers.py

@@ -1,8 +1,9 @@
-import pytest
 from typing import Optional, Union
-from serial.serialutil import SerialException
 
+import pytest
 from app import droneStatus, logger
+from serial.serialutil import SerialException
+
 from . import socketio_client
 
 
@@ -121,17 +122,17 @@ def __exit__(self, type, value, traceback) -> None:
             droneStatus.drone.master.recv_match = self.old_recv
 
 
-class RecvMsgReturnsFalse:
+class RecvMsgReturnsNone:
     @staticmethod
     def recv_match_false(
         condition=None, type=None, blocking=False, timeout=None
-    ) -> bool:
-        return False
+    ) -> None:
+        return None
 
     def __enter__(self) -> None:
         if droneStatus.drone is not None:
             self.old_recv = droneStatus.drone.master.recv_match
-            droneStatus.drone.master.recv_match = RecvMsgReturnsFalse.recv_match_false
+            droneStatus.drone.master.recv_match = RecvMsgReturnsNone.recv_match_false
 
     def __exit__(self, type, value, traceback) -> None:
         if droneStatus.drone is not None:
@@ -167,8 +168,10 @@ def send_and_recieve(endpoint: str, args: Optional[Union[dict, str]] = None) ->
     dict
         The data recieved from the client
     """
-    socketio_client.emit(endpoint, args) if args is not None else socketio_client.emit(
-        endpoint
+    (
+        socketio_client.emit(endpoint, args)
+        if args is not None
+        else socketio_client.emit(endpoint)
     )
     return socketio_client.get_received()[0]["args"][0]
 

radio/tests/test_FlightModesController.py

@@ -4,7 +4,7 @@
 from flask_socketio.test_client import SocketIOTestClient
 
 from . import falcon_test
-from .helpers import FakeTCP, ParamSetTimeout, RecvMsgReturnsFalse, SetAircraftType
+from .helpers import FakeTCP, ParamSetTimeout, RecvMsgReturnsNone, SetAircraftType
 
 
 @pytest.fixture(scope="module", autouse=True)
@@ -41,7 +41,7 @@ def test_getFlightModes_success(client: SocketIOTestClient, droneStatus):
 
 @falcon_test(pass_drone_status=True)
 def test_getFlightModes_failure(client: SocketIOTestClient, droneStatus):
-    with RecvMsgReturnsFalse():
+    with RecvMsgReturnsNone():
         droneStatus.drone.flightModesController.getFlightModes()
         assert len(droneStatus.drone.flightModesController.flight_modes) == 6
         for items in droneStatus.drone.flightModesController.flight_modes:
@@ -50,7 +50,7 @@ def test_getFlightModes_failure(client: SocketIOTestClient, droneStatus):
 
 @falcon_test(pass_drone_status=True)
 def test_getFlightModeChannel_failure(client: SocketIOTestClient, droneStatus):
-    with RecvMsgReturnsFalse():
+    with RecvMsgReturnsNone():
         droneStatus.drone.flightModesController.getFlightModeChannel()
         assert droneStatus.drone.flightModesController.flight_mode_channel == "UNKNOWN"
 
@@ -68,7 +68,7 @@ def test_setCurrentFlightMode(client: SocketIOTestClient, droneStatus):
         assert response.get("success") is False
         assert response.get("message") == "Could not set flight mode, serial exception"
 
-    with RecvMsgReturnsFalse():
+    with RecvMsgReturnsNone():
         response = droneStatus.drone.flightModesController.setCurrentFlightMode(1)
         assert response.get("success") is False
         assert response.get("message") == "Could not set flight mode"

radio/tests/test_autopilot.py

@@ -3,7 +3,6 @@
 from . import falcon_test
 
 
-# @pytest.mark.skip(reason="Test fails due to reboot_autopilot not functional")
 @falcon_test()
 def test_reboot_success(socketio_client: SocketIOTestClient):
     """