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WilliangalvaniES-Alexander
authored and
patrickelectric
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frontend: add relay configuration to vehicle setup
Co-authored-by: ES-Alexander <sandman.esalexander@gmail.com>
1 parent b9bd8ac commit bacd0c3

3 files changed

Lines changed: 159 additions & 22 deletions

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‎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" 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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<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">
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<v-row>
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<v-btn
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v-tooltip="'Turn relay on'"
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class="ma-4"
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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-row>
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<v-row>
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<v-btn
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v-tooltip="'Turn relay off'"
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class="ma-4"
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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-row>
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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 {
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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${this.relay_number}_INVERTED`)
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},
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default_parameter(): Parameter | undefined {
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return autopilot_data.parameter(`RELAY${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: 31 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -1,27 +1,38 @@
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<template>
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<div class="align-center">
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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 }}.
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In use by {{ function_type_using_this_gpio?.name }}
7-
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<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">
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<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>
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</v-row>
24-
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<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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<leak-setup
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v-if="function_type_using_this_gpio?.name?.includes('LEAK')"
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:leak-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: 38 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>
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<td>{{ servo_output[index] }}</td>
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</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'
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import ServoFunctionEditorDialog from '@/components/parameter-editor/ServoFunctionEditorDialog.vue'
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import MotorDetection from '@/components/vehiclesetup/MotorDetection.vue'
161162
import VehicleViewer from '@/components/vehiclesetup/viewers/VehicleViewer.vue'
@@ -173,6 +174,7 @@ import { SERVO_FUNCTION } from '@/types/autopilot/parameter-sub-enums'
173174
import { Dictionary } from '@/types/common'
174175
import { armDisarm, doMotorTest } from '@/utils/ardupilot_mavlink'
175176
import mavlink_store_get from '@/utils/mavlink'
177+
import { servoNumberToGpio } from '@/utils/servoGpio'
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import ParameterSwitch from '../common/ParameterSwitch.vue'
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@@ -376,6 +378,23 @@ export default Vue.extend({
376378
return output
377379
.map((_, i) => data[`servo${i + 1}_raw`])
378380
},
381+
board_name(): string | undefined {
382+
return autopilot.current_board?.name
383+
},
384+
gpio_to_parameter(): Record<number, Parameter> {
385+
return Object.fromEntries(
386+
autopilot_data.parameterRegex('^.*_PIN$')
387+
.map((param) => [param.value, param]),
388+
)
389+
},
390+
servo_to_gpio(): Record<number, number> {
391+
return Object.fromEntries(
392+
Array.from({ length: 16 }, (_, i) => {
393+
const servo = i + 1
394+
return [servo, servoNumberToGpio(servo, this.board_name)]
395+
}),
396+
)
397+
},
379398
},
380399
watch: {
381400
is_armed() {
@@ -392,6 +411,8 @@ export default Vue.extend({
392411
mounted() {
393412
this.motor_zeroer_interval = setInterval(this.zero_motors, 300)
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this.motor_writer_interval = setInterval(this.write_motors, 100)
414+
fetchCurrentBoard()
415+
395416
mavlink.setMessageRefreshRate({ messageName: 'SERVO_OUTPUT_RAW', refreshRate: 10 })
396417
this.desired_armed_state = this.is_armed
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this.installListeners()
@@ -455,13 +476,28 @@ export default Vue.extend({
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this.selected_param = param
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this.edit_param_dialog = true
457478
},
479+
parameterToUserFriendlyText(param: Parameter): string {
480+
if (param.value === -1) { // GPIO
481+
const servo_number = parseInt(/\d+/g.exec(param.name)?.[0] ?? '0', 10)
482+
const gpio = this.servo_to_gpio[servo_number]
483+
if (!gpio) {
484+
return 'GPIO (Unknown)'
485+
}
486+
const param_using_this_gpio = this.gpio_to_parameter[gpio]
487+
if (param_using_this_gpio) {
488+
const pretty_name = param_using_this_gpio.name.split('_')[0].toLowerCase().toTitle()
489+
return `GPIO [${pretty_name}]`
490+
}
491+
return `GPIO ${gpio} (Unknown)`
492+
}
493+
return this.stringToUserFriendlyText(printParam(param))
494+
},
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stringToUserFriendlyText(text: string) {
459496
return param_value_map?.[this.vehicle_type ?? '']?.[text] ?? text
460497
},
461498
getParam(param: string): Parameter | undefined {
462499
return autopilot_data.parameter(param)
463500
},
464-
printParam,
465501
zero_motors() {
466502
if (!this.is_manual) {
467503
return

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