core: ArdupilotManager: try detecting boards up to 5 times

Author: Williangalvani

core/services/ardupilot_manager/ArduPilotManager.py

@@ -394,15 +394,15 @@ async def start_mavlink_manager(self, device: Endpoint) -> None:
         await self.mavlink_manager.start(device)
 
     @staticmethod
-    def available_boards(include_bootloaders: bool = False) -> List[FlightController]:
-        all_boards = BoardDetector.detect(True)
+    async def available_boards(include_bootloaders: bool = False) -> List[FlightController]:
+        all_boards = await BoardDetector.detect(True)
         if include_bootloaders:
             return all_boards
         return [board for board in all_boards if FlightControllerFlags.is_bootloader not in board.flags]
 
     async def change_board(self, board: FlightController) -> None:
         logger.info(f"Trying to run with '{board.name}'.")
-        if board not in self.available_boards():
+        if board not in await self.available_boards():
             raise ValueError(f"Cannot use '{board.name}'. Board not detected.")
         self.set_preferred_board(board)
         await self.kill_ardupilot()
@@ -513,7 +513,7 @@ async def kill_ardupilot(self) -> None:
     async def start_ardupilot(self) -> None:
         await self.setup()
         try:
-            available_boards = self.available_boards()
+            available_boards = await self.available_boards()
             if not available_boards:
                 raise RuntimeError("No boards available.")
             if len(available_boards) > 1:

core/services/ardupilot_manager/flight_controller_detector/Detector.py

@@ -1,3 +1,4 @@
+import asyncio
 from typing import List, Optional
 
 from commonwealth.utils.general import is_running_as_root
@@ -10,8 +11,17 @@
 
 
 class Detector:
-    @staticmethod
-    def detect_linux_board() -> Optional[FlightController]:
+    @classmethod
+    async def detect_linux_board(cls) -> Optional[FlightController]:
+        for _i in range(5):
+            board = cls._detect_linux_board()
+            if board:
+                return board
+            await asyncio.sleep(0.1)
+        return None
+
+    @classmethod
+    def _detect_linux_board(cls) -> Optional[FlightController]:
         """Returns Linux board if connected.
         Check for connection using the sensors on the I²C and SPI buses.
 
@@ -35,7 +45,8 @@ def is_navigator_r5_connected() -> bool:
                 PCA9685_address = 0x40
                 bus.read_byte_data(PCA9685_address, 0)
                 return True
-            except Exception:
+            except Exception as error:
+                logger.warning(f"Navigator not detected: {error}")
                 return False
 
         def is_argonot_r1_connected() -> bool:
@@ -44,7 +55,8 @@ def is_argonot_r1_connected() -> bool:
                 swap_multiplexer_address = 0x77
                 bus.read_byte_data(swap_multiplexer_address, 0)
                 return True
-            except Exception:
+            except Exception as error:
+                logger.warning(f"Argonot not detected: {error}")
                 return False
 
         logger.debug("Trying to detect Linux board.")
@@ -105,7 +117,7 @@ def detect_sitl() -> FlightController:
         return FlightController(name="SITL", manufacturer="ArduPilot Team", platform=Platform.SITL)
 
     @classmethod
-    def detect(cls, include_sitl: bool = True) -> List[FlightController]:
+    async def detect(cls, include_sitl: bool = True) -> List[FlightController]:
         """Return a list of available flight controllers
 
         Arguments:
@@ -118,7 +130,7 @@ def detect(cls, include_sitl: bool = True) -> List[FlightController]:
         if not is_running_as_root():
             return available
 
-        linux_board = cls.detect_linux_board()
+        linux_board = await cls.detect_linux_board()
         if linux_board:
             available.append(linux_board)
 

core/services/ardupilot_manager/main.py

@@ -52,7 +52,7 @@
     raise RuntimeError("ArduPilot manager needs to run with root privilege.")
 
 
-def target_board(board_name: Optional[str]) -> FlightController:
+async def target_board(board_name: Optional[str]) -> FlightController:
     """Returns the board that should be used to perform operations on.
 
     Most of the API routes that have operations related to board management will give the option to perform those
@@ -64,7 +64,7 @@ def target_board(board_name: Optional[str]) -> FlightController:
     """
     if board_name is not None:
         try:
-            return next(board for board in autopilot.available_boards(True) if board.name == board_name)
+            return next(board for board in await autopilot.available_boards(True) if board.name == board_name)
         except StopIteration as error:
             raise ValueError("Chosen board not available.") from error
     if autopilot.current_board is None:
@@ -153,8 +153,8 @@ async def get_firmware_vehicle_type() -> Any:
     summary="Retrieve dictionary of available firmwares versions with their respective URL.",
 )
 @version(1, 0)
-def get_available_firmwares(vehicle: Vehicle, board_name: Optional[str] = None) -> Any:
-    return autopilot.get_available_firmwares(vehicle, target_board(board_name).platform)
+async def get_available_firmwares(vehicle: Vehicle, board_name: Optional[str] = None) -> Any:
+    return autopilot.get_available_firmwares(vehicle, (await target_board(board_name)).platform)
 
 
 @app.post("/install_firmware_from_url", summary="Install firmware for given URL.")
@@ -168,7 +168,7 @@ async def install_firmware_from_url(
 ) -> Any:
     try:
         await autopilot.kill_ardupilot()
-        autopilot.install_firmware_from_url(url, target_board(board_name), make_default, parameters)
+        autopilot.install_firmware_from_url(url, await target_board(board_name), make_default, parameters)
     finally:
         await autopilot.start_ardupilot()
 
@@ -188,7 +188,7 @@ async def install_firmware_from_file(
         logger.debug("Going to kill ardupilot")
         await autopilot.kill_ardupilot()
         logger.debug("Installing firmware from file")
-        autopilot.install_firmware_from_file(custom_firmware, target_board(board_name), parameters)
+        autopilot.install_firmware_from_file(custom_firmware, await target_board(board_name), parameters)
         os.remove(custom_firmware)
     except InvalidFirmwareFile as error:
         raise StackedHTTPException(status_code=status.HTTP_415_UNSUPPORTED_MEDIA_TYPE, error=error) from error
@@ -260,15 +260,15 @@ async def stop() -> Any:
 async def restore_default_firmware(board_name: Optional[str] = None) -> Any:
     try:
         await autopilot.kill_ardupilot()
-        autopilot.restore_default_firmware(target_board(board_name))
+        autopilot.restore_default_firmware(await target_board(board_name))
     finally:
         await autopilot.start_ardupilot()
 
 
 @app.get("/available_boards", response_model=List[FlightController], summary="Retrieve list of connected boards.")
 @version(1, 0)
-def available_boards() -> Any:
-    return autopilot.available_boards(True)
+async def available_boards() -> Any:
+    return await autopilot.available_boards(True)
 
 
 app = VersionedFastAPI(app, version="1.0.0", prefix_format="/v{major}.{minor}", enable_latest=True)