From 7b9c48897d72a0b1d5652a5c8f9b676f71c33569 Mon Sep 17 00:00:00 2001
From: Ryan Turner <100864486+Turnlings@users.noreply.github.com>
Date: Wed, 8 Apr 2026 20:27:58 +0100
Subject: [PATCH 1/3] basic blinker implementation for drone error

---
 radio/app/controllers/armController.py |  8 ++++++--
 radio/app/drone.py                     | 10 ++++++----
 radio/app/signals.py                   | 13 +++++++++++++
 3 files changed, 25 insertions(+), 6 deletions(-)
 create mode 100644 radio/app/signals.py

diff --git a/radio/app/controllers/armController.py b/radio/app/controllers/armController.py
index 719207627..a4664bec0 100644
--- a/radio/app/controllers/armController.py
+++ b/radio/app/controllers/armController.py
@@ -4,6 +4,7 @@
 from threading import current_thread
 from typing import TYPE_CHECKING
 
+from app.signals import drone_error
 from app.customTypes import Response
 from app.utils import commandAccepted, sendingCommandLock
 from pymavlink import mavutil
@@ -87,8 +88,11 @@ def arm(self, force: bool = False) -> Response:
 
         except Exception as e:
             self.drone.logger.error(e, exc_info=True)
-            if self.drone.droneErrorCb:
-                self.drone.droneErrorCb(str(e))
+            self.drone.error(str(e))
+
+            ## Or you can have:                 (TODO: remove)
+            drone_error.send(str(e))
+
             return {
                 "success": False,
                 "message": "Could not arm, serial exception",
diff --git a/radio/app/drone.py b/radio/app/drone.py
index ceef355c9..53865ad67 100644
--- a/radio/app/drone.py
+++ b/radio/app/drone.py
@@ -27,6 +27,7 @@
 from app.controllers.serialPortsController import SerialPortsController
 from app.controllers.servoController import ServoController
 from app.customTypes import Number, Response, VehicleType
+from app.signals import drone_error
 from app.utils import (
     commandAccepted,
     decodeFlightSwVersion,
@@ -739,8 +740,7 @@ def checkForMessages(self) -> None:
                 msg = self.master.recv_msg()
             except mavutil.mavlink.MAVError as e:
                 self.logger.error(e, exc_info=True)
-                if self.droneErrorCb:
-                    self.droneErrorCb(str(e))
+                self.error(str(e))
                 continue
             except AttributeError as e:
                 self.logger.error(e, exc_info=True)
@@ -755,8 +755,7 @@ def checkForMessages(self) -> None:
             except Exception as e:
                 # Log any other unexpected exception
                 self.logger.error(e, exc_info=True)
-                if self.droneErrorCb:
-                    self.droneErrorCb(str(e))
+                self.error(str(e))
                 continue
 
             if msg is None:
@@ -1264,6 +1263,9 @@ def stopForwarding(self) -> Response:
         else:
             return {"success": False, "message": "Not currently forwarding"}
 
+    def error(self, msg: str) -> None:
+        drone_error.send(msg)
+
     def close(self) -> None:
         """Close the connection to the drone."""
         self.logger.info(f"Cleaning up resources for drone at {self}")
diff --git a/radio/app/signals.py b/radio/app/signals.py
new file mode 100644
index 000000000..7daffb358
--- /dev/null
+++ b/radio/app/signals.py
@@ -0,0 +1,13 @@
+from blinker import Signal
+from . import socketio
+
+drone_error = Signal()
+
+
+@drone_error.connect
+def drone_error_handler(msg: str):
+    socketio.emit("drone_error", {"message": msg})
+
+    ## Optionally you can add return values
+    ## That would be what the function would return to the caller
+    # return "Received"

From b6e94943629b2bcae82170ef53cbfc66642192d3 Mon Sep 17 00:00:00 2001
From: Ryan Turner <100864486+Turnlings@users.noreply.github.com>
Date: Wed, 8 Apr 2026 22:37:23 +0100
Subject: [PATCH 2/3] fully replace drone connection status

---
 radio/app/controllers/armController.py |  6 ++---
 radio/app/drone.py                     | 12 +++------
 radio/app/endpoints/autopilot.py       |  2 --
 radio/app/endpoints/comPorts.py        |  2 --
 radio/app/signals.py                   | 34 +++++++++++++++++++++++---
 radio/app/utils.py                     | 19 +-------------
 6 files changed, 38 insertions(+), 37 deletions(-)

diff --git a/radio/app/controllers/armController.py b/radio/app/controllers/armController.py
index a4664bec0..19ed1e783 100644
--- a/radio/app/controllers/armController.py
+++ b/radio/app/controllers/armController.py
@@ -4,7 +4,7 @@
 from threading import current_thread
 from typing import TYPE_CHECKING
 
-from app.signals import drone_error
+from app.signals import DroneError
 from app.customTypes import Response
 from app.utils import commandAccepted, sendingCommandLock
 from pymavlink import mavutil
@@ -90,8 +90,8 @@ def arm(self, force: bool = False) -> Response:
             self.drone.logger.error(e, exc_info=True)
             self.drone.error(str(e))
 
-            ## Or you can have:                 (TODO: remove)
-            drone_error.send(str(e))
+            ## Or you can have just have:                 (TODO: remove)
+            DroneError.send(str(e))
 
             return {
                 "success": False,
diff --git a/radio/app/drone.py b/radio/app/drone.py
index 53865ad67..7f20e7b44 100644
--- a/radio/app/drone.py
+++ b/radio/app/drone.py
@@ -27,7 +27,7 @@
 from app.controllers.serialPortsController import SerialPortsController
 from app.controllers.servoController import ServoController
 from app.customTypes import Number, Response, VehicleType
-from app.signals import drone_error
+from app.signals import DroneError, DroneConnectStatus
 from app.utils import (
     commandAccepted,
     decodeFlightSwVersion,
@@ -83,7 +83,6 @@ def __init__(
         forwarding_address: Optional[str] = None,
         droneErrorCb: Optional[Callable] = None,
         droneDisconnectCb: Optional[Callable] = None,
-        droneConnectStatusCb: Optional[Callable] = None,
         linkDebugStatsCb: Optional[Callable] = None,
         fetchingParameterCb: Optional[Callable] = None,
         connectionCancelEvent: Optional[Event] = None,
@@ -96,7 +95,6 @@ def __init__(
             baud (int, optional): The baud rate for the connection. Defaults to 57600.
             droneErrorCb (Optional[Callable], optional): Callback function for drone errors. Defaults to None.
             droneDisconnectCb (Optional[Callable], optional): Callback function for drone disconnection. Defaults to None.
-            droneConnectStatusCb (Optional[Callable], optional): Callback function for drone connection providing an update as the drone connects. Defaults to None.
             linkDebugStatsCb (Optional[Callable], optional): Callback function for link debug stats. Defaults to None.
             fetchingParameterCb (Optional[Callable], optional): Callback function for when parameters are being fetched. Defaults to None.
             connectionCancelEvent (Optional[Event], optional): Event to signal if the connection process should be cancelled. Defaults to None.
@@ -106,7 +104,6 @@ def __init__(
         self.logger = logger
         self.droneErrorCb = droneErrorCb
         self.droneDisconnectCb = droneDisconnectCb
-        self.droneConnectStatusCb = droneConnectStatusCb
         self.linkDebugStatsCb = linkDebugStatsCb
         self.fetchingParameterCb = fetchingParameterCb
         self.connection_cancel_event: Event = connectionCancelEvent or Event()
@@ -372,9 +369,6 @@ def setupControllers(self) -> None:
     def _emitConnectionStatus(
         self, message: str, progress: float, sub_message: str = ""
     ) -> None:
-        if not self.droneConnectStatusCb:
-            return
-
         progress = round(min(max(float(progress), 0.0), 100.0), 2)
         progress = max(progress, self._last_connect_progress)
         payload = {
@@ -387,7 +381,7 @@ def _emitConnectionStatus(
             return
 
         try:
-            self.droneConnectStatusCb(payload)
+            DroneConnectStatus.send(payload)
         except Exception:
             self.logger.exception("Connection status callback failed")
             return
@@ -1264,7 +1258,7 @@ def stopForwarding(self) -> Response:
             return {"success": False, "message": "Not currently forwarding"}
 
     def error(self, msg: str) -> None:
-        drone_error.send(msg)
+        DroneError.send(msg)
 
     def close(self) -> None:
         """Close the connection to the drone."""
diff --git a/radio/app/endpoints/autopilot.py b/radio/app/endpoints/autopilot.py
index 5ae2e8f5e..b15390488 100644
--- a/radio/app/endpoints/autopilot.py
+++ b/radio/app/endpoints/autopilot.py
@@ -20,7 +20,6 @@ def rebootAutopilot() -> None:
     baud = droneStatus.drone.baud
     droneErrorCb = droneStatus.drone.droneErrorCb
     droneDisconnectCb = droneStatus.drone.droneDisconnectCb
-    droneConnectStatusCb = droneStatus.drone.droneConnectStatusCb
     linkDebugStatsCb = droneStatus.drone.linkDebugStatsCb
     fetchingParameterCb = droneStatus.drone.fetchingParameterCb
     forwarding_address = droneStatus.drone.forwarding_address
@@ -54,7 +53,6 @@ def rebootAutopilot() -> None:
             forwarding_address=forwarding_address,
             droneErrorCb=droneErrorCb,
             droneDisconnectCb=droneDisconnectCb,
-            droneConnectStatusCb=droneConnectStatusCb,
             linkDebugStatsCb=linkDebugStatsCb,
             fetchingParameterCb=fetchingParameterCb,
         )
diff --git a/radio/app/endpoints/comPorts.py b/radio/app/endpoints/comPorts.py
index 348f151e7..2a2f4db22 100644
--- a/radio/app/endpoints/comPorts.py
+++ b/radio/app/endpoints/comPorts.py
@@ -10,7 +10,6 @@
 from app import logger, socketio
 from app.drone import Drone
 from app.utils import (
-    droneConnectStatusCb,
     droneErrorCb,
     fetchingParameterCb,
     getComPortNames,
@@ -157,7 +156,6 @@ def connectToDrone(data: ConnectionDataType) -> None:
             forwarding_address=forwarding_address,
             droneErrorCb=droneErrorCb,
             droneDisconnectCb=disconnectFromDrone,
-            droneConnectStatusCb=droneConnectStatusCb,
             linkDebugStatsCb=sendLinkDebugStats,
             fetchingParameterCb=fetchingParameterCb,
             connectionCancelEvent=cancel_event,
diff --git a/radio/app/signals.py b/radio/app/signals.py
index 7daffb358..3b2366255 100644
--- a/radio/app/signals.py
+++ b/radio/app/signals.py
@@ -1,13 +1,41 @@
 from blinker import Signal
 from . import socketio
 
-drone_error = Signal()
+from typing import TypedDict, NotRequired
+from app.customTypes import Number
 
+# Define signals
+DroneError = Signal()
+DroneConnectStatus = Signal()
 
-@drone_error.connect
-def drone_error_handler(msg: str):
+
+@DroneError.connect
+def droneErrorHandler(msg: str) -> None:
+    """
+    Send drone error to the socket
+
+    Args:
+        msg: The error message to send to the client
+    """
     socketio.emit("drone_error", {"message": msg})
 
     ## Optionally you can add return values
     ## That would be what the function would return to the caller
     # return "Received"
+
+
+class ConnectionDataType(TypedDict):
+    message: str
+    progress: Number
+    sub_message: NotRequired[str]
+
+
+@DroneConnectStatus.connect
+def droneConnectStatusHandler(msg: ConnectionDataType) -> None:
+    """
+    Send drone connect status updates to the socket
+
+    Args:
+        msg: The connect message to send to the client
+    """
+    socketio.emit("drone_connect_status", msg)
diff --git a/radio/app/utils.py b/radio/app/utils.py
index 632f9e9a7..eeb7d908d 100644
--- a/radio/app/utils.py
+++ b/radio/app/utils.py
@@ -4,9 +4,8 @@
 
 from pymavlink import mavutil
 from serial.tools import list_ports
-from typing_extensions import NotRequired, TypedDict
 
-from app.customTypes import Number, VehicleType
+from app.customTypes import VehicleType
 
 from . import socketio
 
@@ -148,22 +147,6 @@ def droneErrorCb(msg: Any) -> None:
     socketio.emit("drone_error", {"message": msg})
 
 
-class ConnectionDataType(TypedDict):
-    message: str
-    progress: Number
-    sub_message: NotRequired[str]
-
-
-def droneConnectStatusCb(msg: ConnectionDataType) -> None:
-    """
-    Send drone connect status updates to the socket
-
-    Args:
-        msg: The connect message to send to the client
-    """
-    socketio.emit("drone_connect_status", msg)
-
-
 def notConnectedError(action: Optional[str] = None) -> None:
     """
     Send error to the socket indicating that drone connection must be established to complete this action

From 68c80e73121f4ad5185bac1f9299abb53f488b19 Mon Sep 17 00:00:00 2001
From: Ryan Turner <100864486+Turnlings@users.noreply.github.com>
Date: Thu, 9 Apr 2026 23:33:57 +0100
Subject: [PATCH 3/3] include sender in function signature

---
 radio/app/controllers/armController.py |  2 +-
 radio/app/drone.py                     |  4 ++--
 radio/app/signals.py                   | 14 ++++++++++----
 radio/mypy.ini                         |  2 ++
 4 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/radio/app/controllers/armController.py b/radio/app/controllers/armController.py
index 19ed1e783..b8ee3ac5a 100644
--- a/radio/app/controllers/armController.py
+++ b/radio/app/controllers/armController.py
@@ -91,7 +91,7 @@ def arm(self, force: bool = False) -> Response:
             self.drone.error(str(e))
 
             ## Or you can have just have:                 (TODO: remove)
-            DroneError.send(str(e))
+            DroneError.send(self, msg=str(e))
 
             return {
                 "success": False,
diff --git a/radio/app/drone.py b/radio/app/drone.py
index 7f20e7b44..674cbec66 100644
--- a/radio/app/drone.py
+++ b/radio/app/drone.py
@@ -381,7 +381,7 @@ def _emitConnectionStatus(
             return
 
         try:
-            DroneConnectStatus.send(payload)
+            DroneConnectStatus.send(self, msg=payload)
         except Exception:
             self.logger.exception("Connection status callback failed")
             return
@@ -1258,7 +1258,7 @@ def stopForwarding(self) -> Response:
             return {"success": False, "message": "Not currently forwarding"}
 
     def error(self, msg: str) -> None:
-        DroneError.send(msg)
+        DroneError.send(self, msg=msg)
 
     def close(self) -> None:
         """Close the connection to the drone."""
diff --git a/radio/app/signals.py b/radio/app/signals.py
index 3b2366255..c262986d0 100644
--- a/radio/app/signals.py
+++ b/radio/app/signals.py
@@ -4,38 +4,44 @@
 from typing import TypedDict, NotRequired
 from app.customTypes import Number
 
+import logging
+
+logger = logging.getLogger("fgcs")
+
 # Define signals
 DroneError = Signal()
 DroneConnectStatus = Signal()
 
 
 @DroneError.connect
-def droneErrorHandler(msg: str) -> None:
+def droneErrorHandler(sender, msg: str) -> None:
     """
     Send drone error to the socket
 
     Args:
         msg: The error message to send to the client
     """
+    logger.debug(f"dronErrorHandler called by: {sender} with msg: {msg}")
     socketio.emit("drone_error", {"message": msg})
 
     ## Optionally you can add return values
     ## That would be what the function would return to the caller
-    # return "Received"
+    # return {success: true}
 
 
-class ConnectionDataType(TypedDict):
+class DroneConnectionStatusDataType(TypedDict):
     message: str
     progress: Number
     sub_message: NotRequired[str]
 
 
 @DroneConnectStatus.connect
-def droneConnectStatusHandler(msg: ConnectionDataType) -> None:
+def droneConnectStatusHandler(sender, msg: DroneConnectionStatusDataType) -> None:
     """
     Send drone connect status updates to the socket
 
     Args:
         msg: The connect message to send to the client
     """
+    logger.debug(f"droneConnectStatusHandler called by: {sender} with msg: {msg}")
     socketio.emit("drone_connect_status", msg)
diff --git a/radio/mypy.ini b/radio/mypy.ini
index b99ebf7e3..61b428450 100644
--- a/radio/mypy.ini
+++ b/radio/mypy.ini
@@ -13,3 +13,5 @@ ignore_missing_imports = True
 ignore_missing_imports = True
 [mypy-docker.*]
 ignore_missing_imports = True
+[mypy-blinker.*]
+ignore_missing_imports = True