Add modal for force disarming if normal disarm fails (#915)

* Add modal for force disarming if normal disarm fails

* Update arm tests

* Update arming tests

* Fix arm tests

Author: 1Blademaster

gcs/src/components/dashboard/ForceDisarmModal.jsx

@@ -0,0 +1,52 @@
+import { Button, Modal, Text } from "@mantine/core"
+import { useDispatch, useSelector } from "react-redux"
+import {
+  emitArmDisarm,
+  selectForceDisarmModalOpened,
+  setForceDisarmModalOpened,
+} from "../../redux/slices/droneConnectionSlice"
+
+export default function ForceDisarmModal() {
+  const dispatch = useDispatch()
+  const isOpen = useSelector(selectForceDisarmModalOpened)
+
+  const handleForceDisarm = () => {
+    dispatch(emitArmDisarm({ arm: false, force: true }))
+    dispatch(setForceDisarmModalOpened(false))
+  }
+
+  const handleCancel = () => {
+    dispatch(setForceDisarmModalOpened(false))
+  }
+
+  return (
+    <Modal
+      opened={isOpen}
+      onClose={handleCancel}
+      title="Failed to Disarm"
+      centered
+    >
+      <div className="flex flex-col gap-4">
+        <Text>
+          The aircraft failed to disarm normally. This could be because the
+          aircraft is still in the air or has other safety concerns.
+        </Text>
+        <Text weight={700} color="red">
+          Do you want to force disarm the aircraft?
+        </Text>
+        <Text size="sm" color="dimmed">
+          Warning: Force disarming bypasses safety checks and could cause the
+          aircraft to crash if it's still airborne.
+        </Text>
+        <div className="flex gap-2">
+          <Button onClick={handleCancel} variant="default" className="grow">
+            Cancel
+          </Button>
+          <Button onClick={handleForceDisarm} color="red" className="grow">
+            Force Disarm
+          </Button>
+        </div>
+      </div>
+    </Modal>
+  )
+}

gcs/src/dashboard.jsx

@@ -34,21 +34,24 @@ import {
   selectBatteryData,
   selectDroneCoords,
   selectFlightMode,
-  selectGPSRawInt,
   selectGPS2RawInt,
+  selectGPSRawInt,
+  selectHasSecondaryGps,
   selectNotificationSound,
   selectRSSI,
   soundPlayed,
-  selectHasSecondaryGps,
 } from "./redux/slices/droneInfoSlice"
-import { selectMessages } from "./redux/slices/statusTextSlice"
 import { selectCurrentMission } from "./redux/slices/missionSlice"
+import { selectMessages } from "./redux/slices/statusTextSlice"
 
 import { useSettings } from "./helpers/settings"
 
 // Helper javascript files
 import { GPS_FIX_TYPES } from "./helpers/mavlinkConstants"
 
+// Import components
+import ForceDisarmModal from "./components/dashboard/ForceDisarmModal"
+
 // Custom component
 import useSound from "use-sound"
 import FloatingToolbar from "./components/dashboard/floatingToolbar"
@@ -69,9 +72,9 @@ const tailwindColors = resolveConfig(tailwindConfig).theme.colors
 // Sounds
 import armSound from "./assets/sounds/armed.mp3"
 import disarmSound from "./assets/sounds/disarmed.mp3"
+import flightModeChangedSound from "./assets/sounds/flightmodechanged.mp3"
 import lowBatterySound from "./assets/sounds/lowbattery.mp3"
 import waypointReachedSound from "./assets/sounds/waypointreached.mp3"
-import flightModeChangedSound from "./assets/sounds/flightmodechanged.mp3"
 
 export default function Dashboard() {
   const dispatch = useDispatch()
@@ -353,6 +356,7 @@ export default function Dashboard() {
           </ResizableBox>
         </div>
       </div>
+      <ForceDisarmModal />
     </Layout>
   )
 }

gcs/src/redux/middleware/socketMiddleware.js

@@ -17,6 +17,7 @@ import {
   setConnectionModal,
   setConnectionStatus,
   setFetchingComPorts,
+  setForceDisarmModalOpened,
   setSelectedComPorts,
 } from "../slices/droneConnectionSlice"
 
@@ -529,7 +530,14 @@ const socketMiddleware = (store) => {
         })
 
         socket.socket.on(DroneSpecificSocketEvents.onArmDisarm, (msg) => {
-          if (!msg.success) showErrorNotification(msg.message)
+          if (!msg.success) {
+            // Check if this was a disarm attempt and was not a force disarm
+            if (msg.data?.was_disarming && !msg.data?.was_force) {
+              store.dispatch(setForceDisarmModalOpened(true))
+            } else {
+              showErrorNotification(msg.message)
+            }
+          }
         })
 
         socket.socket.on(

gcs/src/redux/slices/droneConnectionSlice.js

@@ -43,6 +43,8 @@ const initialState = {
   videoSource: null,
   videoMaximized: false,
   videoScale: 1,
+
+  forceDisarmModalOpened: false,
 }
 
 const droneConnectionSlice = createSlice({
@@ -143,6 +145,9 @@ const droneConnectionSlice = createSlice({
     setVideoScale: (state, action) => {
       state.videoScale = action.payload
     },
+    setForceDisarmModalOpened: (state, action) => {
+      state.forceDisarmModalOpened = action.payload
+    },
 
     // Emits
     emitIsConnectedToDrone: () => {},
@@ -187,6 +192,7 @@ const droneConnectionSlice = createSlice({
     selectVideoSource: (state) => state.videoSource,
     selectVideoMaximized: (state) => state.videoMaximized,
     selectVideoScale: (state) => state.videoScale,
+    selectForceDisarmModalOpened: (state) => state.forceDisarmModalOpened,
   },
 })
 
@@ -213,6 +219,7 @@ export const {
   setVideoSource,
   setVideoMaximized,
   setVideoScale,
+  setForceDisarmModalOpened,
 
   // Emitters
   emitIsConnectedToDrone,
@@ -254,6 +261,7 @@ export const {
   selectVideoSource,
   selectVideoMaximized,
   selectVideoScale,
+  selectForceDisarmModalOpened,
 } = droneConnectionSlice.selectors
 
 export default droneConnectionSlice

radio/app/controllers/armController.py

@@ -34,20 +34,26 @@ def arm(self, force: bool = False) -> Response:
         Returns:
             Response: The response from the arm command
         """
+        return_data = {
+            "was_disarming": False,
+            "was_force": force,
+        }
+
         if self.drone.armed:
-            return {"success": False, "message": "Already armed"}
+            return {"success": False, "message": "Already armed", "data": return_data}
 
         if not self.drone.reserve_message_type("COMMAND_ACK", self.controller_id):
             return {
                 "success": False,
                 "message": "Could not reserve COMMAND_ACK messages",
+                "data": return_data,
             }
 
         try:
             self.drone.sendCommand(
                 mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
                 param1=1,  # 0=disarm, 1=arm
-                param2=2989 if force else 0,  # force arm/disarm
+                param2=21196 if force else 0,  # force arm/disarm
             )
 
             response = self.drone.wait_for_message(
@@ -63,19 +69,28 @@ def arm(self, force: bool = False) -> Response:
                 while not self.drone.armed:
                     time.sleep(0.05)
                 self.drone.logger.debug("ARMED")
-                return {"success": True, "message": "Armed successfully"}
+                return {
+                    "success": True,
+                    "message": "Armed successfully",
+                    "data": return_data,
+                }
             else:
                 self.drone.logger.debug("Arming failed")
                 return {
                     "success": False,
                     "message": "Could not arm, command not accepted",
+                    "data": return_data,
                 }
 
         except Exception as e:
             self.drone.logger.error(e, exc_info=True)
             if self.drone.droneErrorCb:
                 self.drone.droneErrorCb(str(e))
-            return {"success": False, "message": "Could not arm, serial exception"}
+            return {
+                "success": False,
+                "message": "Could not arm, serial exception",
+                "data": return_data,
+            }
         finally:
             self.drone.release_message_type("COMMAND_ACK", self.controller_id)
 
@@ -90,20 +105,30 @@ def disarm(self, force: bool = False) -> Response:
         Returns:
             Response: The response from the disarm command
         """
+        return_data = {
+            "was_disarming": True,
+            "was_force": force,
+        }
+
         if not self.drone.armed:
-            return {"success": False, "message": "Already disarmed"}
+            return {
+                "success": False,
+                "message": "Already disarmed",
+                "data": return_data,
+            }
 
         if not self.drone.reserve_message_type("COMMAND_ACK", self.controller_id):
             return {
                 "success": False,
                 "message": "Could not reserve COMMAND_ACK messages",
+                "data": return_data,
             }
 
         try:
             self.drone.sendCommand(
                 mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
                 param1=0,  # 0=disarm, 1=arm
-                param2=2989 if force else 0,  # force arm/disarm
+                param2=21196 if force else 0,  # force arm/disarm
             )
 
             response = self.drone.wait_for_message(
@@ -119,18 +144,27 @@ def disarm(self, force: bool = False) -> Response:
                 while self.drone.armed:
                     time.sleep(0.05)
                 self.drone.logger.debug("DISARMED")
-                return {"success": True, "message": "Disarmed successfully"}
+                return {
+                    "success": True,
+                    "message": "Disarmed successfully",
+                    "data": return_data,
+                }
             else:
                 self.drone.logger.debug("Could not disarm, command not accepted")
                 return {
                     "success": False,
                     "message": "Could not disarm, command not accepted",
+                    "data": return_data,
                 }
 
         except Exception as e:
             self.drone.logger.error(e, exc_info=True)
             if self.drone.droneErrorCb:
                 self.drone.droneErrorCb(str(e))
-            return {"success": False, "message": "Could not disarm, serial exception"}
+            return {
+                "success": False,
+                "message": "Could not disarm, serial exception",
+                "data": return_data,
+            }
         finally:
             self.drone.release_message_type("COMMAND_ACK", self.controller_id)

radio/app/endpoints/arm.py

@@ -2,7 +2,7 @@
 
 import app.droneStatus as droneStatus
 from app import socketio
-from app.utils import notConnectedError, missingParameterError
+from app.utils import missingParameterError, notConnectedError
 
 
 class ArmDisarmType(TypedDict):

radio/tests/helpers.py

@@ -15,9 +15,7 @@ class FakeTCP:
     """
 
     @staticmethod
-    def return_serial_exception(
-        condition=None, type=None, blocking=False, timeout=None
-    ) -> None:
+    def return_serial_exception(*args, **kwargs) -> None:
         raise SerialException(
             "Test SerialException generated by tests.FakeTCP context manager."
         )