From 259a1b621579e8e90050272a7683f9ec1cf9f4c2 Mon Sep 17 00:00:00 2001
From: Rafael Araujo Lehmkuhl <rafael.lehmkuhl93@gmail.com>
Date: Wed, 8 Jan 2025 11:50:41 -0300
Subject: [PATCH] mavlink: Add MAVLink inspection tool

This tool can help users on debugging of MAVLink related problems.

It allows the user to see the messages that are being received by Cockpit, as well as the ones being sent.

This was already useful before being merged on a situation where we needed to know if the proper `MANUAL_CONTROL` messages were being sent.
---
 src/App.vue                                   |   6 +
 src/components/ConfigurationMenu.vue          |   6 +
 .../development/MAVLinkInspector.vue          | 112 ++++++++++++++++++
 src/views/ConfigurationMAVLinkView.vue        |  33 ++++++
 4 files changed, 157 insertions(+)
 create mode 100644 src/components/development/MAVLinkInspector.vue
 create mode 100644 src/views/ConfigurationMAVLinkView.vue

diff --git a/src/App.vue b/src/App.vue
index f50106e6c..bad7ca06b 100644
--- a/src/App.vue
+++ b/src/App.vue
@@ -354,6 +354,7 @@ import ConfigurationDevelopmentView from './views/ConfigurationDevelopmentView.v
 import ConfigurationGeneralView from './views/ConfigurationGeneralView.vue'
 import ConfigurationJoystickView from './views/ConfigurationJoystickView.vue'
 import ConfigurationTelemetryView from './views/ConfigurationLogsView.vue'
+import ConfigurationMAVLinkView from './views/ConfigurationMAVLinkView.vue'
 import ConfigurationMissionView from './views/ConfigurationMissionView.vue'
 import ConfigurationUIView from './views/ConfigurationUIView.vue'
 import ConfigurationVideoView from './views/ConfigurationVideoView.vue'
@@ -411,6 +412,11 @@ const configMenu = [
     title: 'Dev',
     component: markRaw(ConfigurationDevelopmentView) as ConfigComponent,
   },
+  {
+    icon: 'mdi-protocol',
+    title: 'MAVLink',
+    component: markRaw(ConfigurationMAVLinkView) as ConfigComponent,
+  },
   {
     icon: 'mdi-map-marker-path',
     title: 'Mission',
diff --git a/src/components/ConfigurationMenu.vue b/src/components/ConfigurationMenu.vue
index 13e1f080f..5a691f328 100644
--- a/src/components/ConfigurationMenu.vue
+++ b/src/components/ConfigurationMenu.vue
@@ -42,6 +42,7 @@ import ConfigurationDevelopmentView from '../views/ConfigurationDevelopmentView.
 import ConfigurationGeneralView from '../views/ConfigurationGeneralView.vue'
 import ConfigurationJoystickView from '../views/ConfigurationJoystickView.vue'
 import ConfigurationLogsView from '../views/ConfigurationLogsView.vue'
+import ConfigurationMAVLinkView from '../views/ConfigurationMAVLinkView.vue'
 import ConfigurationMissionView from '../views/ConfigurationMissionView.vue'
 import ConfigurationVideoView from '../views/ConfigurationVideoView.vue'
 
@@ -81,6 +82,11 @@ const menus = [
     title: 'Development',
     component: markRaw(ConfigurationDevelopmentView),
   },
+  {
+    icon: 'mdi-protocol',
+    title: 'MAVLink',
+    component: markRaw(ConfigurationMAVLinkView),
+  },
   {
     icon: 'mdi-rocket',
     title: 'Mission',
diff --git a/src/components/development/MAVLinkInspector.vue b/src/components/development/MAVLinkInspector.vue
new file mode 100644
index 000000000..99c00859e
--- /dev/null
+++ b/src/components/development/MAVLinkInspector.vue
@@ -0,0 +1,112 @@
+<template>
+  <div class="flex flex-col gap-4">
+    <div class="flex flex-row gap-4 mb-4 flex-wrap">
+      <div>
+        <div class="text-lg mb-2">Available Message Types</div>
+        <div class="mb-2 flex items-center">
+          <input
+            v-model="searchQuery"
+            type="text"
+            placeholder="Search messages..."
+            class="w-full px-3 py-2 bg-[#FFFFFF22] rounded-md text-white placeholder-gray-400 outline-none focus:ring-2 focus:ring-blue-500"
+          />
+          <v-btn variant="outlined" class="rounded-md ml-2" @click="resetTrackedMessageTypes">Reset</v-btn>
+        </div>
+        <div class="bg-[#FFFFFF11] rounded-md p-2 max-h-[320px] overflow-y-auto">
+          <div
+            v-for="type in filteredMessageTypes"
+            :key="type"
+            class="cursor-pointer hover:bg-[#FFFFFF22] p-1 rounded"
+            :class="{ 'bg-[#FFFFFF33]': trackedMessageTypes.has(type) }"
+            @click="toggleMessageTracking(type)"
+          >
+            {{ type }}
+          </div>
+          <div v-if="filteredMessageTypes.length === 0" class="text-gray-400 text-center p-2">No messages found</div>
+        </div>
+      </div>
+      <div v-if="trackedMessageTypes.size > 0" class="w-auto mr-2">
+        <div class="text-lg mb-2">Message Values</div>
+        <div class="bg-[#FFFFFF11] rounded-md p-2 w-[24rem] overflow-y-auto">
+          <div v-for="type in trackedMessageTypes" :key="type" class="mb-4">
+            <div class="font-bold mb-2">{{ type }}</div>
+            <div class="ml-1 text-xs text-gray-400 mb-1">Incoming Messages:</div>
+            <div v-if="messageValues.has(`in:${type}`)" class="ml-2 text-sm whitespace-pre-wrap">
+              <pre>{{ JSON.stringify(messageValues.get(`in:${type}`), null, 2) }}</pre>
+            </div>
+            <div v-else class="ml-2 text-sm text-gray-400">No incoming messages</div>
+            <div class="ml-1 text-xs text-gray-400 mt-2 mb-1">Outgoing Messages:</div>
+            <div v-if="messageValues.has(`out:${type}`)" class="ml-2 text-sm whitespace-pre-wrap">
+              <pre>{{ JSON.stringify(messageValues.get(`out:${type}`), null, 2) }}</pre>
+            </div>
+            <div v-else class="ml-2 text-sm text-gray-400">No outgoing messages</div>
+          </div>
+        </div>
+      </div>
+    </div>
+  </div>
+</template>
+
+<script setup lang="ts">
+import { computed, onMounted, onUnmounted, ref } from 'vue'
+
+import type { Package } from '@/libs/connection/m2r/messages/mavlink2rest'
+import { MAVLinkType } from '@/libs/connection/m2r/messages/mavlink2rest-enum'
+import { useMainVehicleStore } from '@/stores/mainVehicle'
+
+const mainVehicleStore = useMainVehicleStore()
+const searchQuery = ref('')
+
+const availableMessageTypes = computed(() => {
+  return Object.values(MAVLinkType).filter((type) => typeof type === 'string')
+})
+
+const filteredMessageTypes = computed(() => {
+  const query = searchQuery.value.toLowerCase()
+  if (!query) return availableMessageTypes.value
+  return availableMessageTypes.value.filter((type) => type.toLowerCase().includes(query))
+})
+
+const trackedMessageTypes = ref<Set<MAVLinkType>>(new Set())
+const messageValues = ref<Map<string, unknown>>(new Map())
+
+const toggleMessageTracking = (type: MAVLinkType): void => {
+  if (trackedMessageTypes.value.has(type)) {
+    trackedMessageTypes.value.delete(type)
+    messageValues.value.delete(`in:${type}`)
+    messageValues.value.delete(`out:${type}`)
+  } else {
+    trackedMessageTypes.value.add(type)
+    setupMessageListeners(type)
+  }
+}
+
+const setupMessageListeners = (type: MAVLinkType): void => {
+  try {
+    mainVehicleStore.listenToIncomingMessages(type, (pack: Package) => {
+      messageValues.value.set(`in:${type}`, pack.message)
+    })
+    mainVehicleStore.listenToOutgoingMessages(type, (pack: Package) => {
+      messageValues.value.set(`out:${type}`, pack.message)
+    })
+  } catch (error) {
+    console.error(`Failed to setup message listeners for type ${type}:`, error)
+  }
+}
+
+const resetTrackedMessageTypes = (): void => {
+  trackedMessageTypes.value.clear()
+  messageValues.value.clear()
+}
+
+// Set up listeners for any already tracked message types
+onMounted(() => {
+  trackedMessageTypes.value.forEach(setupMessageListeners)
+})
+
+// Clean up when component is unmounted
+onUnmounted(() => {
+  trackedMessageTypes.value.clear()
+  messageValues.value.clear()
+})
+</script>
diff --git a/src/views/ConfigurationMAVLinkView.vue b/src/views/ConfigurationMAVLinkView.vue
new file mode 100644
index 000000000..518e1c441
--- /dev/null
+++ b/src/views/ConfigurationMAVLinkView.vue
@@ -0,0 +1,33 @@
+<template>
+  <BaseConfigurationView>
+    <template #title>MAVLink</template>
+    <template #content>
+      <div
+        class="max-h-[85vh] overflow-y-auto -mr-4"
+        :class="interfaceStore.isOnSmallScreen ? 'max-w-[85vw]' : 'max-w-[60vw]'"
+      >
+        <ExpansiblePanel :is-expanded="!interfaceStore.isOnPhoneScreen" no-top-divider no-bottom-divider>
+          <template #title>Message Inspector</template>
+          <template #content>
+            <MAVLinkInspector />
+          </template>
+        </ExpansiblePanel>
+      </div>
+    </template>
+  </BaseConfigurationView>
+</template>
+
+<script setup lang="ts">
+import MAVLinkInspector from '@/components/development/MAVLinkInspector.vue'
+import ExpansiblePanel from '@/components/ExpansiblePanel.vue'
+import { useAppInterfaceStore } from '@/stores/appInterface'
+
+import BaseConfigurationView from './BaseConfigurationView.vue'
+const interfaceStore = useAppInterfaceStore()
+</script>
+<style scoped>
+.custom-header {
+  background-color: #333 !important;
+  color: #fff;
+}
+</style>