From 42fcc8ec6205b101c723c6483d4ba58852bd8a55 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Sun, 3 Nov 2024 22:26:34 -0300 Subject: [PATCH] wip mavlink2rest support --- TelemetryDashboard/TelemetryDashboard.js | 167 +++++++++++++++++++++++ 1 file changed, 167 insertions(+) diff --git a/TelemetryDashboard/TelemetryDashboard.js b/TelemetryDashboard/TelemetryDashboard.js index 79f45f5b..260506c9 100644 --- a/TelemetryDashboard/TelemetryDashboard.js +++ b/TelemetryDashboard/TelemetryDashboard.js @@ -1,4 +1,160 @@ // Setup connect button in menu widget, this handles WebSocket and incoming MAVLink + +function remapJson(json) { + json.message._header = { + srcSystem: json.system_id, + srcComponent: json.component_id, + } + json.message._name = json.message.type + json.message._id = message_ids[json.message.type] + if (json.message.type === 'STATUSTEXT') { + json.message.text = json.message.text.join('') + } + + return json.message +} + +const message_ids = { + BAD_DATA :-1, + HEARTBEAT: 0, + SYS_STATUS: 1, + SYSTEM_TIME: 2, + PING: 4, + CHANGE_OPERATOR_CONTROL: 5, + CHANGE_OPERATOR_CONTROL_ACK: 6, + AUTH_KEY: 7, + SET_MODE: 11, + PARAM_REQUEST_READ: 20, + PARAM_REQUEST_LIST: 21, + PARAM_VALUE: 22, + PARAM_SET: 23, + GPS_RAW_INT: 24, + GPS_STATUS: 25, + SCALED_IMU: 26, + RAW_IMU: 27, + RAW_PRESSURE: 28, + SCALED_PRESSURE: 29, + ATTITUDE: 30, + ATTITUDE_QUATERNION: 31, + LOCAL_POSITION_NED: 32, + GLOBAL_POSITION_INT: 33, + RC_CHANNELS_SCALED: 34, + RC_CHANNELS_RAW: 35, + SERVO_OUTPUT_RAW: 36, + MISSION_REQUEST_PARTIAL_LIST: 37, + MISSION_WRITE_PARTIAL_LIST: 38, + MISSION_ITEM: 39, + MISSION_REQUEST: 40, + MISSION_SET_CURRENT: 41, + MISSION_CURRENT: 42, + MISSION_REQUEST_LIST: 43, + MISSION_COUNT: 44, + MISSION_CLEAR_ALL: 45, + MISSION_ITEM_REACHED: 46, + MISSION_ACK: 47, + SET_GPS_GLOBAL_ORIGIN: 48, + GPS_GLOBAL_ORIGIN: 49, + PARAM_MAP_RC: 50, + MISSION_REQUEST_INT: 51, + SAFETY_SET_ALLOWED_AREA: 54, + SAFETY_ALLOWED_AREA: 55, + ATTITUDE_QUATERNION_COV: 61, + NAV_CONTROLLER_OUTPUT: 62, + GLOBAL_POSITION_INT_COV: 63, + LOCAL_POSITION_NED_COV: 64, + RC_CHANNELS: 65, + REQUEST_DATA_STREAM: 66, + DATA_STREAM: 67, + MANUAL_CONTROL: 69, + RC_CHANNELS_OVERRIDE: 70, + MISSION_ITEM_INT: 73, + VFR_HUD: 74, + COMMAND_INT: 75, + COMMAND_LONG: 76, + COMMAND_ACK: 77, + MANUAL_SETPOINT: 81, + SET_ATTITUDE_TARGET: 82, + ATTITUDE_TARGET: 83, + SET_POSITION_TARGET_LOCAL_NED: 84, + POSITION_TARGET_LOCAL_NED: 85, + SET_POSITION_TARGET_GLOBAL_INT: 86, + POSITION_TARGET_GLOBAL_INT: 87, + LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET: 89, + HIL_STATE: 90, + HIL_CONTROLS: 91, + HIL_RC_INPUTS_RAW: 92, + HIL_ACTUATOR_CONTROLS: 93, + OPTICAL_FLOW: 100, + GLOBAL_VISION_POSITION_ESTIMATE: 101, + VISION_POSITION_ESTIMATE: 102, + VISION_SPEED_ESTIMATE: 103, + VICON_POSITION_ESTIMATE: 104, + HIGHRES_IMU: 105, + OPTICAL_FLOW_RAD: 106, + HIL_SENSOR: 107, + SIM_STATE: 108, + RADIO_STATUS: 109, + FILE_TRANSFER_PROTOCOL: 110, + TIMESYNC: 111, + CAMERA_TRIGGER: 112, + HIL_GPS: 113, + HIL_OPTICAL_FLOW: 114, + HIL_STATE_QUATERNION: 115, + SCALED_IMU2: 116, + LOG_REQUEST_LIST: 117, + LOG_ENTRY: 118, + LOG_REQUEST_DATA: 119, + LOG_DATA: 120, + LOG_ERASE: 121, + LOG_REQUEST_END: 122, + GPS_INJECT_DATA: 123, + GPS2_RAW: 124, + POWER_STATUS: 125, + SERIAL_CONTROL: 126, + GPS_RTK: 127, + GPS2_RTK: 128, + SCALED_IMU3: 129, + DATA_TRANSMISSION_HANDSHAKE: 130, + ENCAPSULATED_DATA: 131, + DISTANCE_SENSOR: 132, + TERRAIN_REQUEST: 133, + TERRAIN_DATA: 134, + TERRAIN_CHECK: 135, + TERRAIN_REPORT: 136, + SCALED_PRESSURE2: 137, + ATT_POS_MOCAP: 138, + SET_ACTUATOR_CONTROL_TARGET: 139, + ACTUATOR_CONTROL_TARGET: 140, + ALTITUDE: 141, + RESOURCE_REQUEST: 142, + SCALED_PRESSURE3: 143, + FOLLOW_TARGET: 144, + CONTROL_SYSTEM_STATE: 146, + BATTERY_STATUS: 147, + AUTOPILOT_VERSION: 148, + LANDING_TARGET: 149, + ESTIMATOR_STATUS: 230, + WIND_COV: 231, + GPS_INPUT: 232, + GPS_RTCM_DATA: 233, + HIGH_LATENCY: 234, + HIGH_LATENCY2: 235, + VIBRATION: 241, + HOME_POSITION: 242, + SET_HOME_POSITION: 243, + MESSAGE_INTERVAL: 244, + EXTENDED_SYS_STATE: 245, + ADSB_VEHICLE: 246, + COLLISION: 247, + V2_EXTENSION: 248, + MEMORY_VECT: 249, + DEBUG_VECT: 250, + NAMED_VALUE_FLOAT: 251, + NAMED_VALUE_INT: 252, + STATUSTEXT: 253, + DEBUG: 254, +} + function setup_connect(button_svg, button_color) { const tip_div = document.createElement("div") @@ -115,6 +271,17 @@ function setup_connect(button_svg, button_color) { } ws.onmessage = (msg) => { + if (msg.data[0] == "{") { + // this is a full json message + const m = remapJson(JSON.parse(msg.data)) + for (const widget of grid.getGridItems()) { + widget.MAVLink_msg_handler(m) + } + for (const widget of test_grid.getGridItems()) { + widget.MAVLink_msg_handler(m) + } + return + } // Feed data to MAVLink parser and forward messages for (const char of new Uint8Array(msg.data)) { const m = MAVLink.parseChar(char)