mavlink: Allow also listening to outgoing messages

src/libs/connection/connection-manager.ts

@@ -14,6 +14,7 @@ export class ConnectionManager {
   // Signals
   static onMainConnection = new Signal<WeakRef<Connection.Abstract>>()
   static onRead = new Signal<Uint8Array>()
+  static onWrite = new Signal<Uint8Array>()
 
   /**
    * Return the connections available
@@ -69,7 +70,9 @@ export class ConnectionManager {
     }
 
     previousConnection?.onRead?.clear()
+    previousConnection?.onWrite?.clear()
     connection.onRead.add((data: Uint8Array) => this.onRead.emit_value(data))
+    connection.onWrite.add((data: Uint8Array) => this.onWrite.emit_value(data))
     ConnectionManager._mainConnection = new WeakRef(connection)
     // There is no constructor and updating the register is not expensive in this function
     ConnectionManager.onMainConnection.register_caller(
@@ -96,6 +99,7 @@ export class ConnectionManager {
    */
   static write(data: Uint8Array): boolean {
     ConnectionManager.mainConnection()?.write(data)
+    ConnectionManager.onWrite.emit_value(data)
     return true
   }
 }

src/libs/connection/connection.ts

@@ -64,6 +64,7 @@ export abstract class Abstract {
 
   // Signals
   public onRead = new Signal<Uint8Array>()
+  public onWrite = new Signal<Uint8Array>()
 
   /**
    * Return the connection uri

src/libs/vehicle/ardupilot/ardupilot.ts

@@ -82,7 +82,8 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
 
   _messages: MAVLinkMessageDictionary = new Map()
 
-  onMAVLinkMessage = new SignalTyped()
+  onIncomingMAVLinkMessage = new SignalTyped()
+  onOutgoingMAVLinkMessage = new SignalTyped()
   _flying = false
 
   protected currentSystemId = 1
@@ -270,11 +271,31 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
     ]
   }
 
+  /**
+   * Log outgoing messages
+   * @param {Uint8Array} message
+   */
+  onOutgoingMessage(message: Uint8Array): void {
+    const textDecoder = new TextDecoder()
+    let mavlink_message: Package
+    const text_message = textDecoder.decode(message)
+    try {
+      mavlink_message = JSON.parse(text_message) as Package
+      this.onOutgoingMAVLinkMessage.emit_value(mavlink_message.message.type, mavlink_message)
+    } catch (error) {
+      const pattern = /Ok\((\d+)\)/
+      const match = pattern.exec(text_message)
+      if (match) return
+      console.error(`Failed to parse mavlink message: ${text_message}`)
+      return
+    }
+  }
+
   /**
    *  Decode incoming message
    * @param {Uint8Array} message
    */
-  onMessage(message: Uint8Array): void {
+  onIncomingMessage(message: Uint8Array): void {
     const textDecoder = new TextDecoder()
     let mavlink_message: Package
     const text_message = textDecoder.decode(message)
@@ -350,7 +371,7 @@ export abstract class ArduPilotVehicle<Modes> extends Vehicle.AbstractVehicle<Mo
 
     // TODO: Maybe create a signal class to deal with MAVLink only
     // Where add will use the template argument type to define the lambda argument type
-    this.onMAVLinkMessage.emit_value(mavlink_message.message.type, mavlink_message)
+    this.onIncomingMAVLinkMessage.emit_value(mavlink_message.message.type, mavlink_message)
 
     if (Object.keys(this._usedGenericVariablesdMessagePaths).includes(mavlink_message.message.type)) {
       this._usedGenericVariablesdMessagePaths[mavlink_message.message.type].forEach((path) => {

src/libs/vehicle/vehicle-factory.ts

@@ -44,7 +44,8 @@ export class VehicleFactory {
       return undefined
     }
 
-    ConnectionManager.onRead.add((message) => vehicle?.onMessage(message))
+    ConnectionManager.onRead.add((message) => vehicle?.onIncomingMessage(message))
+    ConnectionManager.onWrite.add((message) => vehicle?.onOutgoingMessage(message))
 
     VehicleFactory._vehicles.push(new WeakRef(vehicle))
     VehicleFactory.onVehicles.register_caller(this.vehicles)

src/libs/vehicle/vehicle.ts

@@ -169,7 +169,8 @@ export abstract class AbstractVehicle<Modes> {
     }
   }
 
-  abstract onMessage(message: Uint8Array): void
+  abstract onIncomingMessage(message: Uint8Array): void
+  abstract onOutgoingMessage(message: Uint8Array): void
 
   abstract arm(): Promise<void>
   abstract altitude(): Altitude

src/stores/mainVehicle.ts

@@ -495,7 +495,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
       }
     }, 1000)
 
-    mainVehicle.value.onMAVLinkMessage.add(MAVLinkType.HEARTBEAT, (pack: Package) => {
+    mainVehicle.value.onIncomingMAVLinkMessage.add(MAVLinkType.HEARTBEAT, (pack: Package) => {
       if (pack.header.component_id != 1) {
         return
       }
@@ -533,6 +533,20 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     })
   })
 
+  const listenToIncomingMessages = (messageType: string, callback: (pack: Package) => void): void => {
+    if (!mainVehicle.value) {
+      throw new Error('No vehicle available to listen for incoming messages.')
+    }
+    mainVehicle.value?.onIncomingMAVLinkMessage.add(messageType, callback)
+  }
+
+  const listenToOutgoingMessages = (messageType: string, callback: (pack: Package) => void): void => {
+    if (!mainVehicle.value) {
+      throw new Error('No vehicle available to listen for outgoing messages.')
+    }
+    mainVehicle.value?.onOutgoingMAVLinkMessage.add(messageType, callback)
+  }
+
   // Allow us to set custom commands to be used in the browser
   // Expert mode
   watch(mainVehicle, async (newVehicle) => {
@@ -618,5 +632,7 @@ export const useMainVehicleStore = defineStore('main-vehicle', () => {
     genericVariables,
     availableGenericVariables,
     registerUsageOfGenericVariable,
+    listenToIncomingMessages,
+    listenToOutgoingMessages,
   }
 })