Add input to set loiter radius

gcs/src/components/dashboard/tabsSection.jsx

@@ -1,4 +1,4 @@
-/* 
+/*
   Tabs section. This will be a part of the resizable info box located in the bottom half. This
   contains tabs like data, action, missions, and camera.
 */
@@ -7,19 +7,19 @@
 import { Tabs } from "@mantine/core"
 
 // Tab Components
-import CameraTabsSection from "./tabsSectionTabs/cameraTabsSection"
 import ActionTabsSection from "./tabsSectionTabs/actionTabsSection"
-import MissionTabsSection from "./tabsSectionTabs/missionTabsSection"
+import CameraTabsSection from "./tabsSectionTabs/cameraTabsSection"
 import DataTabsSection from "./tabsSectionTabs/dataTabsSection"
+import MissionTabsSection from "./tabsSectionTabs/missionTabsSection"
 import PreFlightChecklistTab from "./tabsSectionTabs/preFlightChecklistSection"
 
 // Redux
 import { useSelector } from "react-redux"
+import { selectConnectedToDrone } from "../../redux/slices/droneConnectionSlice"
 import {
   selectAircraftType,
   selectNavController,
 } from "../../redux/slices/droneInfoSlice"
-import { selectConnectedToDrone } from "../../redux/slices/droneConnectionSlice"
 
 export default function TabsSection({ currentFlightModeNumber }) {
   const connected = useSelector(selectConnectedToDrone)
@@ -46,6 +46,7 @@ export default function TabsSection({ currentFlightModeNumber }) {
         tabPadding={tabPadding}
         currentFlightModeNumber={currentFlightModeNumber}
         aircraftType={aircraftType}
+        currentLoiterRadius={navControllerOutputData.loiterRadius}
       ></ActionTabsSection>
 
       {/* Mission */}

gcs/src/components/dashboard/tabsSectionTabs/actionTabsSection.jsx

@@ -4,10 +4,10 @@
  */
 
 // Native
-import { useState } from "react"
+import { useEffect, useState } from "react"
 
 // Mantine
-import { Button, NumberInput, Popover, Tabs, Select } from "@mantine/core"
+import { Button, NumberInput, Popover, Select, Tabs } from "@mantine/core"
 import { useLocalStorage } from "@mantine/hooks"
 
 // Mavlink
@@ -17,16 +17,20 @@ import {
 } from "../../../helpers/mavlinkConstants"
 
 // Helper
+import { useDispatch, useSelector } from "react-redux"
 import { socket } from "../../../helpers/socket"
+import {
+  selectArmed,
+  setLoiterRadius,
+} from "../../../redux/slices/droneInfoSlice"
 import { NoConnectionMsg } from "../tabsSection"
-import { useSelector } from "react-redux"
-import { selectArmed } from "../../../redux/slices/droneInfoSlice"
 
 export default function ActionTabsSection({
   connected,
   tabPadding,
   currentFlightModeNumber,
   aircraftType,
+  currentLoiterRadius,
 }) {
   return (
     <Tabs.Panel value="actions">
@@ -35,6 +39,8 @@ export default function ActionTabsSection({
           <NoConnectionMsg message="No actions are available right now. Connect a drone to begin" />
         ) : (
           <div className="flex flex-col gap-y-2">
+            {/** Loiter Radius */}
+            <LoiterRadiusAction currentLoiterRadius={currentLoiterRadius} />
             {/** Flight Mode */}
             <FlightModeAction
               aircraftType={aircraftType}
@@ -170,3 +176,54 @@ const ArmTakeoffLandAction = () => {
     </>
   )
 }
+
+const LoiterRadiusAction = ({ currentLoiterRadius }) => {
+  const dispatch = useDispatch()
+  const [newLoiterRadius, setNewLoiterRadius] = useState(currentLoiterRadius) // Default to AUTO mode
+
+  useEffect(() => {
+    setNewLoiterRadius(currentLoiterRadius)
+  }, [currentLoiterRadius])
+
+  function sendNewLoiterRadius(radius) {
+    if (radius === null || radius === currentLoiterRadius || radius < 0) {
+      return
+    }
+    socket.emit("set_loiter_radius", { radius })
+    dispatch(setLoiterRadius(radius))
+  }
+
+  return (
+    <>
+      {currentLoiterRadius !== null && (
+        <div className="flex flex-wrap flex-cols gap-2">
+          <NumberInput
+            placeholder="Loiter radius (m)"
+            value={newLoiterRadius}
+            onChange={setNewLoiterRadius}
+            min={0}
+            allowNegative={false}
+            hideControls
+            data-autofocus
+            suffix="m"
+            decimalScale={2}
+            className="grow"
+            // Below is the cursed solution to fixing the misalignment between Mantine's
+            // OWN components. It's a magic number of 40 as Mantine's Select component has
+            // a 34px RHS icon and without it the NumberInput is 6px wider than select for uhhhh
+            // unknown reasons. Thanks Mantine :D
+            rightSection={<div />}
+            rightSectionWidth="40px"
+          />
+
+          <Button
+            onClick={() => sendNewLoiterRadius(newLoiterRadius)}
+            className="grow"
+          >
+            Set Loiter Radius
+          </Button>
+        </div>
+      )}
+    </>
+  )
+}

gcs/src/components/layout.jsx

@@ -20,6 +20,7 @@ import { socket } from "../helpers/socket"
 import { useDispatch, useSelector } from "react-redux"
 import {
   emitGetCurrentMissionAll,
+  emitGetLoiterRadius,
   emitSetState,
   selectConnectedToDrone,
 } from "../redux/slices/droneConnectionSlice"
@@ -70,6 +71,7 @@ export default function Layout({ children, currentPage }) {
     dispatch(emitSetState({ state: currentPage }))
     if (currentPage.toLowerCase() == "dashboard") {
       dispatch(emitGetCurrentMissionAll())
+      dispatch(emitGetLoiterRadius())
     }
   }, [currentPage, connectedToDrone])
 

gcs/src/redux/middleware/emitters.js

@@ -4,6 +4,7 @@ import {
   emitGetComPorts,
   emitGetCurrentMissionAll,
   emitGetHomePosition,
+  emitGetLoiterRadius,
   emitIsConnectedToDrone,
   emitSetState,
 } from "../slices/droneConnectionSlice"
@@ -51,6 +52,10 @@ export function handleEmitters(socket, store, action) {
       emitter: emitGetCurrentMissionAll,
       callback: () => socket.socket.emit("get_current_mission_all"),
     },
+    {
+      emitter: emitGetLoiterRadius,
+      callback: () => socket.socket.emit("get_loiter_radius"),
+    },
 
     /*
       ============

gcs/src/redux/middleware/socketMiddleware.js

@@ -11,6 +11,7 @@ import {
 import {
   emitGetComPorts,
   emitGetHomePosition,
+  emitGetLoiterRadius,
   emitIsConnectedToDrone,
   emitSetState,
   setComPorts,
@@ -23,6 +24,7 @@ import {
 } from "../slices/droneConnectionSlice"
 
 // socket factory
+import { dataFormatters } from "../../helpers/dataFormatters.js"
 import SocketFactory from "../../helpers/socket"
 import {
   setAttitudeData,
@@ -33,6 +35,7 @@ import {
   setGpsRawIntData,
   setHeartbeatData,
   setLastGraphMessage,
+  setLoiterRadius,
   setNavControllerOutput,
   setOnboardControlSensorsEnabled,
   setRSSIData,
@@ -58,7 +61,6 @@ import {
 } from "../slices/notificationSlice"
 import { pushMessage } from "../slices/statusTextSlice.js"
 import { handleEmitters } from "./emitters.js"
-import { dataFormatters } from "../../helpers/dataFormatters.js"
 
 const SocketEvents = Object.freeze({
   // socket.on events
@@ -78,6 +80,8 @@ const DroneSpecificSocketEvents = Object.freeze({
   onNavResult: "nav_result",
   onHomePositionResult: "home_position_result",
   onIncomingMsg: "incoming_msg",
+  onGetLoiterRadiusResult: "nav_get_loiter_radius_result",
+  onSetLoiterRadiusResult: "nav_set_loiter_radius_result",
 })
 
 const MissionSpecificSocketEvents = Object.freeze({
@@ -237,6 +241,7 @@ const socketMiddleware = (store) => {
 
           store.dispatch(emitSetState({ state: "dashboard" }))
           store.dispatch(emitGetHomePosition())
+          store.dispatch(emitGetLoiterRadius())
         })
 
         // Link stats
@@ -288,16 +293,37 @@ const socketMiddleware = (store) => {
           },
         )
 
-        /*
-          Missions
-        */
         socket.socket.on(
-          MissionSpecificSocketEvents.onCurrentMissionAll,
+          DroneSpecificSocketEvents.onGetLoiterRadiusResult,
           (msg) => {
-            store.dispatch(setCurrentMissionItems(msg))
+            store.dispatch(
+              msg.success
+                ? setLoiterRadius(msg.data)
+                : queueNotification({ type: "error", message: msg.message }),
+            )
           },
         )
 
+        socket.socket.on(
+          DroneSpecificSocketEvents.onSetLoiterRadiusResult,
+          (msg) => {
+            store.dispatch(
+              msg.success
+                ? queueNotification({ type: "success", message: msg.message })
+                : queueNotification({ type: "error", message: msg.message }),
+            )
+          },
+        ),
+          /*
+          Missions
+        */
+          socket.socket.on(
+            MissionSpecificSocketEvents.onCurrentMissionAll,
+            (msg) => {
+              store.dispatch(setCurrentMissionItems(msg))
+            },
+          )
+
         socket.socket.on(
           MissionSpecificSocketEvents.onCurrentMission,
           (msg) => {

gcs/src/redux/slices/droneConnectionSlice.js

@@ -112,6 +112,7 @@ const droneConnectionSlice = createSlice({
     emitSetState: () => {},
     emitGetHomePosition: () => {},
     emitGetCurrentMissionAll: () => {},
+    emitGetLoiterRadius: () => {},
   },
   selectors: {
     selectConnecting: (state) => state.connecting,
@@ -154,6 +155,7 @@ export const {
   emitSetState,
   emitGetHomePosition,
   emitGetCurrentMissionAll,
+  emitGetLoiterRadius,
 } = droneConnectionSlice.actions
 export const {
   selectConnecting,

gcs/src/redux/slices/droneInfoSlice.js

@@ -28,6 +28,7 @@ const droneInfoSlice = createSlice({
     navControllerData: {
       navBearing: 0.0,
       wpDist: 0.0,
+      loiterRadius: 80.0,
     },
     heartbeatData: {
       baseMode: 0,
@@ -53,7 +54,7 @@ const droneInfoSlice = createSlice({
         graph_c: null,
         graph_d: null,
       },
-      lastGraphResultsMessage: false, // Last graph message that comes from incoming_msg
+      lastGraphResultsMessage: false,
     },
   },
   reducers: {
@@ -150,6 +151,11 @@ const droneInfoSlice = createSlice({
         state.graphs.lastGraphResultsMessage = action.payload
       }
     },
+    setLoiterRadius: (state, action) => {
+      if (action.payload !== state.navControllerData.loiterRadius) {
+        state.navControllerData.loiterRadius = action.payload
+      }
+    },
   },
   selectors: {
     selectAttitude: (state) => state.attitudeData,
@@ -199,6 +205,7 @@ export const {
   setRSSIData,
   setGraphValues,
   setLastGraphMessage,
+  setLoiterRadius,
 } = droneInfoSlice.actions
 
 // Memoized selectors because redux is a bitch

gcs/src/redux/store.js

@@ -62,7 +62,11 @@ if (droneConnection !== undefined) {
   if (droneConnection.port !== undefined) {
     store.dispatch(setPort(droneConnection.port))
   }
-  if (droneInfo !== undefined && droneInfo.graphs && droneInfo.graphs.selectedGraphs !== undefined) {
+  if (
+    droneInfo !== undefined &&
+    droneInfo.graphs &&
+    droneInfo.graphs.selectedGraphs !== undefined
+  ) {
     store.dispatch(setGraphValues(droneInfo.graphs.selectedGraphs))
   }
 }

radio/app/controllers/missionController.py

@@ -215,6 +215,8 @@ def getMissionItems(
                 blocking=True,
                 timeout=2,
             )
+            self.drone.is_listening = True
+
             if response:
                 if response.mission_type != mission_type:
                     self.drone.logger.error(
@@ -234,7 +236,6 @@ def getMissionItems(
                         f"Received count of {response.count} waypoints", 0.0
                     )
 
-                self.drone.is_listening = True
                 for i in range(0, response.count):
                     retry_count = 0
                     while retry_count < 3:
@@ -274,7 +275,6 @@ def getMissionItems(
                     "data": loader.wpoints,
                 }
             else:
-                self.drone.is_listening = True
                 self.drone.logger.error(
                     f"No response received for mission count for mission type {mission_type}."
                 )