From 44de82b2d8ce10370dd5d7e983c597c62c0bc4a1 Mon Sep 17 00:00:00 2001
From: Rafael Araujo Lehmkuhl <rafael.lehmkuhl93@gmail.com>
Date: Sun, 5 Jan 2025 12:50:12 -0300
Subject: [PATCH] mavlink: Add MAVLink inspection tool

---
 src/App.vue                                   |   6 +
 src/components/ConfigurationMenu.vue          |   6 +
 .../development/MAVLinkInspector.vue          | 104 ++++++++++++++++++
 src/views/ConfigurationMAVLinkView.vue        |  33 ++++++
 4 files changed, 149 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..62afd082f
--- /dev/null
+++ b/src/components/development/MAVLinkInspector.vue
@@ -0,0 +1,104 @@
+<template>
+  <div class="flex flex-col gap-4">
+    <div class="flex flex-row gap-4 mb-4">
+      <div class="flex-1">
+        <div class="text-lg mb-2">Available Message Types</div>
+        <div class="mb-2">
+          <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"
+          />
+        </div>
+        <div class="bg-[#FFFFFF11] rounded-md p-2 max-h-[300px] 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 class="flex-1">
+        <div class="text-lg mb-2">Message Values</div>
+        <div class="bg-[#FFFFFF11] rounded-md p-2 max-h-[340px] overflow-y-auto">
+          <div v-for="type in trackedMessageTypes" :key="type" class="mb-2">
+            <div class="font-bold">{{ type }}</div>
+            <div class="text-xs text-gray-400 mb-1">Incoming Messages:</div>
+            <pre class="text-sm whitespace-pre-wrap">{{
+              JSON.stringify(messageValues.get(`in:${type}`), null, 2)
+            }}</pre>
+            <div class="text-xs text-gray-400 mt-2 mb-1">Outgoing Messages:</div>
+            <pre class="text-sm whitespace-pre-wrap">{{
+              JSON.stringify(messageValues.get(`out:${type}`), null, 2)
+            }}</pre>
+          </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)
+  }
+}
+
+// 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..ae94499d4
--- /dev/null
+++ b/src/views/ConfigurationMAVLinkView.vue
@@ -0,0 +1,33 @@
+<template>
+  <BaseConfigurationView>
+    <template #title>MAVLink configuration</template>
+    <template #content>
+      <div
+        class="max-h-[85vh] overflow-y-auto -mr-4"
+        :class="interfaceStore.isOnSmallScreen ? 'max-w-[85vw]' : 'max-w-[50vw]'"
+      >
+        <ExpansiblePanel :is-expanded="!interfaceStore.isOnPhoneScreen">
+          <template #title>MAVLink 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>