write mission button functionality

.gitignore

@@ -0,0 +1 @@
+.env

README.md

@@ -28,7 +28,7 @@ IMACS 3.0 is forked from Falcon Ground Control Station (FGCS).
 
 #### Creating a virtual environment
 
-Create a new Python virtual environment using `python -m venv venv`. This can then be activated using `./venv/scripts/activate`.
+Create a new Python virtual environment using `python -m venv venv`. This can then be activated using `C`.
 
 > NOTE: To enter the virtual environment you will need to run `venv/Scripts/activate` on windows, to learn more please read: [how to make venv for linux and windows](https://www.geeksforgeeks.org/creating-python-virtual-environment-windows-linux/) or [what is a virtual environment?](https://docs.python.org/3/library/venv.html)
 

gcs/src/components/missions/fenceItemsTable.jsx

@@ -0,0 +1,46 @@
+/*
+  This table displays all the fence items.
+*/
+import { Table } from "@mantine/core"
+import React from "react"
+import FenceItemsTableRow from "./fenceItemsTableRow"
+
+function FenceItemsTableNonMemo({ fenceItems, updateFenceItem }) {
+  return (
+    <Table striped withTableBorder withColumnBorders>
+      <Table.Thead>
+        <Table.Tr>
+          <Table.Th></Table.Th>
+          <Table.Th>Command</Table.Th>
+          <Table.Th>Param 1</Table.Th>
+          <Table.Th>Param 2</Table.Th>
+          <Table.Th>Param 3</Table.Th>
+          <Table.Th>Param 4</Table.Th>
+          <Table.Th>Lat</Table.Th>
+          <Table.Th>Long</Table.Th>
+          <Table.Th>Alt</Table.Th>
+          <Table.Th>Frame</Table.Th>
+        </Table.Tr>
+      </Table.Thead>
+      <Table.Tbody>
+        {fenceItems.map((fenceItem, idx) => {
+          return (
+            <FenceItemsTableRow
+              key={fenceItem.id}
+              index={idx}
+              fenceItem={fenceItem}
+              updateFenceItem={updateFenceItem}
+            />
+          )
+        })}
+      </Table.Tbody>
+    </Table>
+  )
+}
+
+function propsAreEqual(prev, next) {
+  return JSON.stringify(prev) === JSON.stringify(next)
+}
+const FenceItemsTable = React.memo(FenceItemsTableNonMemo, propsAreEqual)
+
+export default FenceItemsTable

gcs/src/components/missions/fenceItemsTableRow.jsx

@@ -0,0 +1,138 @@
+/*
+  This component displays the row for a fence item in a table.
+*/
+
+import { NumberInput, Select, TableTd, TableTr } from "@mantine/core"
+import { useEffect, useState } from "react"
+import { coordToInt, intToCoord } from "../../helpers/dataFormatters"
+import { MAV_FRAME_LIST } from "../../helpers/mavlinkConstants"
+const coordsFractionDigits = 9
+
+export default function FenceItemsTableRow({
+  index,
+  fenceItem,
+  updateFenceItem,
+}) {
+  const [fenceItemData, setFenceItemData] = useState(fenceItem)
+
+  useEffect(() => {
+    setFenceItemData(fenceItem)
+  }, [fenceItem])
+
+  useEffect(() => {
+    updateFenceItem(fenceItemData)
+  }, [fenceItemData])
+
+  function getFrameName(frameId) {
+    var frameName = MAV_FRAME_LIST[frameId]
+
+    if (frameName.startsWith("MAV_FRAME_")) {
+      frameName = frameName.replace("MAV_FRAME_", "")
+    }
+
+    return frameName || "UNKNOWN"
+  }
+
+  function updateFenceItemData(key, newVal) {
+    setFenceItemData({
+      ...fenceItemData,
+      [key]: newVal,
+    })
+  }
+
+  return (
+    <TableTr>
+      <TableTd>{index}</TableTd>
+      <TableTd>
+        <NumberInput
+          value={fenceItemData.command}
+          onChange={(value) => updateFenceItemData("command", value)}
+          min={0}
+          max={65535}
+          step={1}
+          size="xs"
+        />
+      </TableTd>
+      <TableTd>
+        <NumberInput
+          value={fenceItemData.param1}
+          onChange={(value) => updateFenceItemData("param1", value)}
+          min={-1000}
+          max={1000}
+          step={0.1}
+          size="xs"
+          decimalScale={2}
+        />
+      </TableTd>
+      <TableTd>
+        <NumberInput
+          value={fenceItemData.param2}
+          onChange={(value) => updateFenceItemData("param2", value)}
+          min={-1000}
+          max={1000}
+          step={0.1}
+          size="xs"
+          decimalScale={2}
+        />
+      </TableTd>
+      <TableTd>
+        <NumberInput
+          value={fenceItemData.param3}
+          onChange={(value) => updateFenceItemData("param3", value)}
+          min={-1000}
+          max={1000}
+          step={0.1}
+          size="xs"
+          decimalScale={2}
+        />
+      </TableTd>
+      <TableTd>
+        <NumberInput
+          value={fenceItemData.param4}
+          onChange={(value) => updateFenceItemData("param4", value)}
+          min={-1000}
+          max={1000}
+          step={0.1}
+          size="xs"
+          decimalScale={2}
+        />
+      </TableTd>
+      <TableTd>
+        <NumberInput
+          value={intToCoord(fenceItemData.x).toFixed(coordsFractionDigits)}
+          onChange={(val) => updateFenceItemData("x", coordToInt(val))}
+          hideControls
+        />
+      </TableTd>
+      <TableTd>
+        <NumberInput
+          value={intToCoord(fenceItemData.y).toFixed(coordsFractionDigits)}
+          onChange={(val) => updateFenceItemData("y", coordToInt(val))}
+          hideControls
+        />
+      </TableTd>
+      <TableTd>
+        <NumberInput
+          value={fenceItemData.z}
+          onChange={(value) => updateFenceItemData("z", value)}
+          min={-1000}
+          max={10000}
+          step={0.1}
+          size="xs"
+          decimalScale={2}
+        />
+      </TableTd>
+      <TableTd>
+        <Select
+          value={fenceItemData.frame}
+          onChange={(value) => updateFenceItemData("frame", value)}
+          data={Object.entries(MAV_FRAME_LIST).map(([key, value]) => ({
+            value: key,
+            label: value.replace("MAV_FRAME_", ""),
+          }))}
+          size="xs"
+        />
+      </TableTd>
+    </TableTr>
+  )
+}

gcs/src/missions.jsx

@@ -13,6 +13,7 @@ import { v4 as uuidv4 } from "uuid"
 // Custom component and helpers
 import { Button, Divider, Tabs } from "@mantine/core"
 import Layout from "./components/layout"
+import FenceItemsTable from "./components/missions/fenceItemsTable"
 import MissionItemsTable from "./components/missions/missionItemsTable"
 import MissionsMapSection from "./components/missions/missionsMap"
 import RallyItemsTable from "./components/missions/rallyItemsTable"
@@ -43,10 +44,41 @@ export default function Missions() {
 
   const [activeTab, setActiveTab] = useState("mission")
 
-  // Mission
+  // Mission - Test data for development
   const [missionItems, setMissionItems] = useSessionStorage({
     key: "missionItems",
-    defaultValue: [],
+    defaultValue: [
+      {
+        id: uuidv4(),
+        seq: 0,
+        command: 16, // MAV_CMD_NAV_WAYPOINT
+        frame: 3, // MAV_FRAME_GLOBAL_RELATIVE_ALT
+        current: 0,
+        autocontinue: 1,
+        param1: 0.0,
+        param2: 0.0,
+        param3: 0.0,
+        param4: 0.0,
+        x: 52.78031970, // Original waypoint 1
+        y: -0.70979300, // Original waypoint 1
+        z: 30.0, // altitude
+      },
+      {
+        id: uuidv4(),
+        seq: 1,
+        command: 16, // MAV_CMD_NAV_WAYPOINT
+        frame: 3, // MAV_FRAME_GLOBAL_RELATIVE_ALT
+        current: 0,
+        autocontinue: 1,
+        param1: 0.0,
+        param2: 0.0,
+        param3: 0.0,
+        param4: 0.0,
+        x: 52.78122830, // Original waypoint 2
+        y: -0.70989490, // Original waypoint 2
+        z: 30.0, // altitude
+      }
+    ],
   })
   const [fenceItems, setFenceItems] = useSessionStorage({
     key: "fenceItems",
@@ -72,6 +104,7 @@ export default function Missions() {
 
   // System data
   const [navControllerOutputData, setNavControllerOutputData] = useState({})
+  const [isUploading, setIsUploading] = useState(false)
 
   const incomingMessageHandler = useCallback(
     () => ({
@@ -135,10 +168,20 @@ export default function Missions() {
       showSuccessNotification(`${data.mission_type} read successfully`)
     })
 
+    socket.on("upload_mission_result", (data) => {
+      setIsUploading(false)
+      if (data.success) {
+        showSuccessNotification(data.message)
+      } else {
+        showErrorNotification(data.message)
+      }
+    })
+
     return () => {
       socket.off("incoming_msg")
       socket.off("home_position_result")
       socket.off("current_mission")
+      socket.off("upload_mission_result")
     }
   }, [connected])
 
@@ -159,6 +202,7 @@ export default function Missions() {
     return missionItem
   }
 
+
   function updateMissionItem(updatedMissionItem) {
     setMissionItems((prevItems) =>
       prevItems.map((item) =>
@@ -177,13 +221,79 @@ export default function Missions() {
       ),
     )
   }
+  function updateFenceItem(updatedFenceItem) {
+    setFenceItems((prevItems) =>
+      prevItems.map((item) =>
+        item.id === updatedFenceItem.id
+          ? { ...item, ...updatedFenceItem }
+          : item,
+      ),
+    )
+  }
 
   function readMissionFromDrone() {
     socket.emit("get_current_mission", { type: activeTab })
   }
 
   function writeMissionToDrone() {
-    return
+    if (!connected) {
+      showErrorNotification("Not connected to drone")
+      return
+    }
+
+    if (isUploading) {
+      showErrorNotification("Mission upload already in progress")
+      return
+    }
+
+    let missionData = []
+    if (activeTab === "mission") {
+      missionData = missionItems
+    } else if (activeTab === "fence") {
+      missionData = fenceItems
+    } else if (activeTab === "rally") {
+      missionData = rallyItems
+    }
+
+    if (missionData.length === 0) {
+      showErrorNotification(`No ${activeTab} items to upload`)
+      return
+    }
+
+    setIsUploading(true)
+
+    // Convert mission items to the format expected by the backend
+    const formattedMissionData = missionData.map((item, index) => {
+      const formatted = {
+        seq: index,
+        frame: item.frame || 3, // MAV_FRAME_GLOBAL_RELATIVE_ALT
+        command: item.command || 16, // MAV_CMD_NAV_WAYPOINT
+        current: item.current || 0,
+        autocontinue: item.autocontinue || 1,
+        param1: item.param1 || 0.0,
+        param2: item.param2 || 0.0,
+        param3: item.param3 || 0.0,
+        param4: item.param4 || 0.0,
+        x: Math.round((item.x || 0) * 1e7), // latitude as integer (1e7 * degrees)
+        y: Math.round((item.y || 0) * 1e7), // longitude as integer (1e7 * degrees)
+        z: item.z || 0.0, // altitude
+      }
+
+      return formatted
+    })
+
+    socket.emit("upload_mission", {
+      type: activeTab,
+      mission_data: formattedMissionData,
+    })
+
+    // Set a timeout to handle cases where the upload might hang
+    setTimeout(() => {
+      if (isUploading) {
+        setIsUploading(false)
+        showErrorNotification("Mission upload timed out. Please try again.")
+      }
+    }, 30000) // 30 second timeout
   }
 
   function importMissionFromFile() {
@@ -232,13 +342,15 @@ export default function Missions() {
                     onClick={() => {
                       writeMissionToDrone()
                     }}
-                    disabled={!connected}
+                    disabled={!connected || isUploading}
+                    loading={isUploading}
                     className="grow"
                   >
-                    Write {activeTab}
+                    {isUploading ? `Uploading ${activeTab}...` : `Write ${activeTab}`}
                   </Button>
                 </div>
 
+
                 <Divider className="my-1" />
 
                 <div className="flex flex-col gap-4">
@@ -334,7 +446,12 @@ export default function Missions() {
                       updateMissionItem={updateMissionItem}
                     />
                   </Tabs.Panel>
-                  <Tabs.Panel value="fence"></Tabs.Panel>
+                  <Tabs.Panel value="fence">
+                    <FenceItemsTable
+                      fenceItems={fenceItems}
+                      updateFenceItem={updateFenceItem}
+                    />
+                  </Tabs.Panel>
                   <Tabs.Panel value="rally">
                     <RallyItemsTable
                       rallyItems={rallyItems}