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WilliangalvaniWilliangalvani
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frontend: add relay configuration to vehicle setup
1 parent 3d3353e commit 0bb484b

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3 files changed

+162
-22
lines changed

3 files changed

+162
-22
lines changed

‎core/frontend/src/components/parameter-editor/RelaySetup.vue‎

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<template>
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<v-card class="mt-4 mb-4">
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<v-card-text>
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<v-row align="center">
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<v-col cols="6">
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<span class="text-h6">Relay {{ relay_number }}</span>
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</v-col>
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<v-col cols="6" class="d-flex justify-end">
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<v-btn
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v-tooltip="'Turn relay off'"
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small
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@click="setRelay(0)"
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>
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<v-icon small left>
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mdi-power-off
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</v-icon>
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Relay Off
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</v-btn>
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<v-btn
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v-tooltip="'Turn relay on'"
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small
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@click="setRelay(1)"
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>
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<v-icon small left>
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mdi-power
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</v-icon>
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Relay On
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</v-btn>
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</v-col>
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</v-row>
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<v-row align="center">
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<v-col cols="6" class="pa0">
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<parameter-switch
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v-if="inverted_parameter"
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:parameter="inverted_parameter"
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:off-value="0"
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:on-value="1"
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label="Invert Output"
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/>
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</v-col>
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<v-col cols="6" class="pa0">
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<parameter-switch
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v-if="default_parameter"
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:parameter="default_parameter"
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:off-value="0"
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:on-value="1"
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label="Startup State"
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/>
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</v-col>
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</v-row>
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</v-card-text>
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</v-card>
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</template>
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<script lang="ts">
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import Vue from 'vue'
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import mavlink2rest from '@/libs/MAVLink2Rest'
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import { MavCmd } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
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import autopilot_data from '@/store/autopilot'
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import Parameter from '@/types/autopilot/parameter'
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export default Vue.extend({
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name: 'RelaySetup',
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props: {
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relayParameter: {
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type: Object as () => Parameter,
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required: true,
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},
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},
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computed: {
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relay_number(): number {
74+
return parseInt(this.relayParameter.name.match(/RELAY(\d+)_FUNCTION/)?.[1] ?? '0', 10)
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},
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inverted_parameter(): Parameter | undefined {
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return autopilot_data.parameter(`RELAY${this.relay_number}_INVERTED`)
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},
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default_parameter(): Parameter | undefined {
80+
return autopilot_data.parameter(`RELAY${this.relay_number}_DEFAULT`)
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},
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},
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methods: {
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setRelay(setting: number): void {
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// MAV_CMD_DO_SET_RELAY: param1 = relay instance (0-indexed), param2 = setting (0=off, 1=on, 2=toggle)
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mavlink2rest.sendCommandLong(
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MavCmd.MAV_CMD_DO_SET_RELAY,
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this.relay_number - 1, // Convert to 0-indexed relay instance
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setting,
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)
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},
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},
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})
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</script>

‎core/frontend/src/components/parameter-editor/ServoFunctionGpioEditor.vue‎

Lines changed: 27 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -1,27 +1,34 @@
11
<template>
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<div class="align-center">
3-
GPIOs can be used for Relays, Leak detection, and other functions not yet supported by this UI.
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This servo ({{ servo_number }}) gpio is {{ this_servo_gpio }}.
5-
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In use by {{ function_type_using_this_gpio?.name }}
7-
3+
<p>
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Some flight controller servo channels are capable of digital (GPIO) functionalities.
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Available options include relays, leak detection (input-capable pins only),
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and other functions not yet supported by this UI.
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</p>
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<p>
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This servo's GPIO (<strong>{{ this_servo_gpio }}</strong>) is currently in use by
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<strong>{{ function_type_using_this_gpio?.name ?? 'nothing' }}</strong>.
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</p>
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<v-row align="end">
9-
<v-col cols="6">
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<span style="font-size: 1.0rem;">Change function for this servo's GPIO</span>
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</v-col>
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<v-col cols="6">
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<v-select
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v-model="selected_function_type"
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:items="options"
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item-text="text"
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item-value="value"
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return-object
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hide-details
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@change="onChange"
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/>
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</v-col>
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<v-col cols="6">
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<span style="font-size: 1.0rem;">GPIO Function:</span>
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</v-col>
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<v-col cols="6">
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<v-select
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v-model="selected_function_type"
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:items="options"
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item-text="text"
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item-value="value"
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return-object
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hide-details
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@change="onChange"
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/>
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</v-col>
2327
</v-row>
24-
28+
<relay-setup
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v-if="function_type_using_this_gpio?.name?.includes('RELAY')"
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:relay-parameter="function_type_using_this_gpio"
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/>
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</div>
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</template>
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‎core/frontend/src/components/vehiclesetup/PwmSetup.vue‎

Lines changed: 41 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -136,7 +136,7 @@
136136
<td v-tooltip="item.name">
137137
{{ convert_servo_name(item.name) }}
138138
</td>
139-
<td>{{ stringToUserFriendlyText(printParam(item)) }}</td>
139+
<td>{{ parameterToUserFriendlyText(item) }}</td>
140140
<td>{{ servo_output[index] }}</td>
141141
</tr>
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</tbody>
@@ -156,6 +156,7 @@
156156
<script lang="ts">
157157
import Vue from 'vue'
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159+
import { fetchCurrentBoard } from '@/components/autopilot/AutopilotManagerUpdater'
159160
import ServoFunctionEditorDialog from '@/components/parameter-editor/ServoFunctionEditorDialog.vue'
160161
import MotorDetection from '@/components/vehiclesetup/MotorDetection.vue'
161162
import VehicleViewer from '@/components/vehiclesetup/viewers/VehicleViewer.vue'
@@ -376,6 +377,30 @@ export default Vue.extend({
376377
return output
377378
.map((_, i) => data[`servo${i + 1}_raw`])
378379
},
380+
board_name(): string | undefined {
381+
return autopilot.current_board?.name
382+
},
383+
gpio_to_parameter(): Record<number, Parameter> {
384+
return Object.fromEntries(
385+
autopilot_data.parameterRegex('^.*_PIN$')
386+
.map((param) => [param.value, param]),
387+
)
388+
},
389+
servo_to_gpio(): Record<number, number> {
390+
const isNavigator = this.board_name?.includes('Navigator')
391+
return Object.fromEntries(
392+
Array.from({ length: 16 }, (_, i) => {
393+
const servo = i + 1
394+
if (isNavigator) {
395+
return [servo, servo]
396+
}
397+
if (servo <= 8) {
398+
return [servo, servo + 100]
399+
}
400+
return [servo, servo - 9 + 50]
401+
}),
402+
)
403+
},
379404
},
380405
watch: {
381406
is_armed() {
@@ -392,6 +417,8 @@ export default Vue.extend({
392417
mounted() {
393418
this.motor_zeroer_interval = setInterval(this.zero_motors, 300)
394419
this.motor_writer_interval = setInterval(this.write_motors, 100)
420+
fetchCurrentBoard()
421+
395422
mavlink.setMessageRefreshRate({ messageName: 'SERVO_OUTPUT_RAW', refreshRate: 10 })
396423
this.desired_armed_state = this.is_armed
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this.installListeners()
@@ -455,13 +482,25 @@ export default Vue.extend({
455482
this.selected_param = param
456483
this.edit_param_dialog = true
457484
},
485+
parameterToUserFriendlyText(param: Parameter): string {
486+
if (param.value === -1) { // GPIO
487+
const servo_number = parseInt(/\d+/g.exec(param.name)?.[0] ?? '0', 10)
488+
const gpio = this.servo_to_gpio[servo_number]
489+
const param_using_this_gpio = this.gpio_to_parameter[gpio]
490+
if (param_using_this_gpio) {
491+
const pretty_name = param_using_this_gpio.name.split('_')[0].toLowerCase().toTitle()
492+
return `GPIO [${pretty_name}]`
493+
}
494+
return `Unknown GPIO ${gpio}`
495+
}
496+
return this.stringToUserFriendlyText(printParam(param))
497+
},
458498
stringToUserFriendlyText(text: string) {
459499
return param_value_map?.[this.vehicle_type ?? '']?.[text] ?? text
460500
},
461501
getParam(param: string): Parameter | undefined {
462502
return autopilot_data.parameter(param)
463503
},
464-
printParam,
465504
zero_motors() {
466505
if (!this.is_manual) {
467506
return

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