ardupilot: Add variables from non-main sources to the Data Lake

Today, we completely ignore data comming from sources with systemIDs different from the main one and component IDs different than 1.

This PR reads the messages from those systems and create Data Lake variables for them, so the user can use it on VGIs, Plotters and other components.

Author: rafaellehmkuhl

src/libs/vehicle/mavlink/vehicle.ts

@@ -315,39 +315,13 @@ export abstract class MAVLinkVehicle<Modes> extends Vehicle.AbstractVehicle<Mode
     const { system_id, component_id } = mavlink_message.header
 
     if (system_id !== this.currentSystemId || component_id !== 1) {
+      const sourcePaths = ['mavlink', 'ardupilot', `system=${system_id}`, `component=${component_id}`]
+      this.addPackageVariablesToDataLake(mavlink_message, sourcePaths)
       return
     }
 
-    const messageType = mavlink_message.message.type
-
     // Inject variables from the MAVLink messages into the DataLake
-    if (['NAMED_VALUE_FLOAT', 'NAMED_VALUE_INT'].includes(messageType)) {
-      // Special handling for NAMED_VALUE_FLOAT/NAMED_VALUE_INT messages
-      const name = (mavlink_message.message.name as string[]).join('').replace(/\0/g, '')
-      const path = `${messageType}/${name}`
-      if (getDataLakeVariableInfo(path) === undefined) {
-        createDataLakeVariable({ id: path, name: path, type: 'number' })
-      }
-      setDataLakeVariableData(path, mavlink_message.message.value)
-
-      // Create duplicated variables for legacy purposes (that was how they were stored in the old generic-variables system)
-      const oldVariablePath = mavlink_message.message.name.join('').replaceAll('\x00', '')
-      if (getDataLakeVariableInfo(oldVariablePath) === undefined) {
-        createDataLakeVariable({ id: oldVariablePath, name: oldVariablePath, type: 'number' })
-      }
-      setDataLakeVariableData(oldVariablePath, mavlink_message.message.value)
-    } else {
-      // For all other messages, use the flattener
-      const flattened = flattenData(mavlink_message.message)
-      flattened.forEach(({ path, value }) => {
-        if (value === null) return
-        if (typeof value !== 'string' && typeof value !== 'number') return
-        if (getDataLakeVariableInfo(path) === undefined) {
-          createDataLakeVariable({ id: path, name: path, type: typeof value === 'string' ? 'string' : 'number' })
-        }
-        setDataLakeVariableData(path, value)
-      })
-    }
+    this.addPackageVariablesToDataLake(mavlink_message)
 
     // Update our internal messages
     this._messages.set(mavlink_message.message.type, { ...mavlink_message.message, epoch: new Date().getTime() })
@@ -1368,4 +1342,43 @@ export abstract class MAVLinkVehicle<Modes> extends Vehicle.AbstractVehicle<Mode
       }
     })
   }
+
+  /**
+   * Inject variable(s) from the MAVLink package into the DataLake
+   * @param { Package } mavlinkPackage
+   * @param { string[] } sourcePaths Array of sequential path strings that will be joined to form the prefix of the variable path
+   */
+  private addPackageVariablesToDataLake(mavlinkPackage: Package, sourcePaths?: string[]): void {
+    const messageType = mavlinkPackage.message.type
+    const prefix = sourcePaths ? `${sourcePaths.join('/')}/` : ''
+
+    // Inject variables from the MAVLink messages into the DataLake
+    if (['NAMED_VALUE_FLOAT', 'NAMED_VALUE_INT'].includes(messageType)) {
+      // Special handling for NAMED_VALUE_FLOAT/NAMED_VALUE_INT messages
+      const name = (mavlinkPackage.message.name as string[]).join('').replace(/\0/g, '')
+      const path = `${prefix}${messageType}/${name}`
+      if (getDataLakeVariableInfo(path) === undefined) {
+        createDataLakeVariable({ id: path, name: path, type: 'number' })
+      }
+      setDataLakeVariableData(path, mavlinkPackage.message.value)
+
+      // Create duplicated variables for legacy purposes (that was how they were stored in the old generic-variables system)
+      const oldVariablePath = `${prefix}${mavlinkPackage.message.name.join('').replaceAll('\x00', '')}`
+      if (getDataLakeVariableInfo(oldVariablePath) === undefined) {
+        createDataLakeVariable({ id: oldVariablePath, name: oldVariablePath, type: 'number' })
+      }
+      setDataLakeVariableData(oldVariablePath, mavlinkPackage.message.value)
+    } else {
+      // For all other messages, use the flattener
+      const flattened = flattenData(mavlinkPackage.message)
+      flattened.forEach(({ path, value }) => {
+        if (value === null) return
+        if (typeof value !== 'string' && typeof value !== 'number') return
+        if (getDataLakeVariableInfo(path) === undefined) {
+          createDataLakeVariable({ id: path, name: path, type: typeof value === 'string' ? 'string' : 'number' })
+        }
+        setDataLakeVariableData(path, value)
+      })
+    }
+  }
 }