frontend: Add PX4 parameter metadata

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "core/frontend/src/components/vue-tour"]
 	path = core/frontend/src/components/vue-tour
 	url = https://github.com/pulsardev/vue-tour
+[submodule "core/frontend/src/PX4-parameters"]
+	path = core/frontend/src/PX4-parameters
+	url = [email protected]:patrickelectric/PX4-parameters.git

core/frontend/src/components/parameter-editor/ParameterEditor.vue

@@ -7,7 +7,7 @@
       :headers="[
         { text: 'Name', value: 'name' },
         { text: 'Description', value: 'description' },
-        { text: 'Value', value: 'value', width: '150px' },
+        { text: 'Value', value: 'value', width: '170px' },
       ]"
       :loading="!finished_loading"
       :items="search && search != '' ? fuse.search(search) : params_no_input"
@@ -62,7 +62,19 @@
       </template>
        <!-- eslint-enable -->
       <template #item.value="{ item }">
-        {{ printParam(item.item) }} {{ item.item.units ? `[${item.item.units}]` : '' }}
+        <div class="value-cell-content">
+          {{ printParam(item.item) }} {{ item.item.units ? `[${item.item.units}]` : '' }}
+          <v-btn
+            v-if="!item.item?.readonly && item.item?.default !== undefined && item.item?.default !== item.item.value"
+            v-tooltip="item.item?.rebootRequired ? 'Reboot required' : undefined"
+            icon
+            :color="item.item?.rebootRequired ? 'warning' : 'primary'"
+            class="value-cell-content-restore"
+            @click.stop="setDefaultParamValue(item.item)"
+          >
+            <v-icon>mdi-backup-restore</v-icon>
+          </v-btn>
+        </div>
       </template>
       <template #footer.prepend>
         <v-btn
@@ -146,6 +158,7 @@ import { saveAs } from 'file-saver'
 import Fuse from 'fuse.js'
 import Vue from 'vue'
 
+import mavlink2rest from '@/libs/MAVLink2Rest'
 import autopilot_data from '@/store/autopilot'
 import autopilot from '@/store/autopilot_manager'
 import Parameter, { printParam } from '@/types/autopilot/parameter'
@@ -217,6 +230,16 @@ export default Vue.extend({
     },
   },
   methods: {
+    setDefaultParamValue(param: Parameter) {
+      if (param.default === undefined || param.readonly) {
+        return
+      }
+      mavlink2rest.setParam(param.name, param.default, autopilot_data.system_id, param.paramType.type)
+
+      if (param.rebootRequired) {
+        autopilot_data.setRebootRequired(true)
+      }
+    },
     editParam(param: Parameter) {
       if (param.readonly) {
         return
@@ -330,4 +353,14 @@ div.v-messages {
 .hand-cursor {
   cursor: pointer;
 }
+
+.value-cell-content {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+}
+
+.value-cell-content-restore {
+  margin-left: auto;
+}
 </style>

core/frontend/src/types/autopilot/parameter-table.ts

@@ -1,10 +1,13 @@
 import { isNumber } from 'lodash'
 
 import { fetchVehicleType } from '@/components/autopilot/AutopilotManagerUpdater'
+import { MavAutopilot } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
+import autopilot_data from '@/store/autopilot'
 import autopilot from '@/store/autopilot_manager'
 import { Dictionary } from '@/types/common'
 
 import Parameter from './parameter'
+import { fetchPX4Metadata, PX4ParametersMetadata } from './px4/metadata-fetcher'
 
 // Parameter metadata as in the JSON files
 interface Metadata {
@@ -21,6 +24,7 @@ interface Metadata {
   Values?: {[key:number] : string}
   User?: string
   Units?: string
+  Default?: string
 }
 
 interface MetadataCategory {
@@ -29,6 +33,52 @@ interface MetadataCategory {
 interface MetadataFile {
     [key: string]: MetadataCategory;
 }
+
+function fromPX4toArduPilotParametersMetadata(parameters: PX4ParametersMetadata[]): Record<string, Metadata> {
+  return parameters.reduce((acc, param) => {
+    acc[param.name] = {
+      User: param.category,
+      Description: param.longDesc ?? param.shortDesc,
+      DisplayName: param.shortDesc,
+      ...param.max && param.min && { Range: { high: param.max.toString(), low: param.min.toString() } },
+      ...param.rebootRequire && { RebootRequired: param.rebootRequire ? 'True' : 'False' },
+      ...param.units && { Units: param.units },
+    }
+
+    // In case default is like 1.0 and got loaded as 1 but should be a float
+    if (Number.isInteger(param.default) && param.type === 'Float') {
+      acc[param.name].Default = param.default.toFixed(1)
+    } else {
+      acc[param.name].Default = param.default.toString()
+    }
+
+    if (param.increment) {
+      // In case increment is like 1.0 and got loaded as 1 but should be a float
+      if (Number.isInteger(param.increment) && param.type === 'Float') {
+        acc[param.name].Increment = param.increment.toFixed(1)
+      } else {
+        acc[param.name].Increment = param.increment.toString()
+      }
+    }
+
+    if (param.values) {
+      acc[param.name].Values = param.values.reduce((valuesAcc, val) => {
+        valuesAcc[val.value] = val.description
+        return valuesAcc
+      }, {} as Record<number, string>)
+    }
+
+    if (param.bitmask) {
+      acc[param.name].Bitmask = param.bitmask.reduce((bitmaskAcc, val) => {
+        bitmaskAcc[val.index] = val.description
+        return bitmaskAcc
+      }, {} as Record<number, string>)
+    }
+
+    return acc
+  }, {} as Record<string, Metadata>)
+}
+
 export default class ParametersTable {
   parametersDict: {[key: number] : Parameter} = {}
 
@@ -51,26 +101,31 @@ export default class ParametersTable {
       setTimeout(() => { this.fetchMetadata() }, 1000)
       return
     }
-    let metadata: MetadataFile
-    if (autopilot.vehicle_type === 'Submarine') {
-      metadata = await import('@/ArduPilot-Parameter-Repository/Sub-4.1/apm.pdef.json')
-    }
-    // This is to avoid importing a 40 lines enum from mavlink and adding a switch case with 40 cases
-    else if (autopilot.vehicle_type.toLowerCase().includes('copter')
-      || autopilot.vehicle_type.toLowerCase().includes('rotor')) {
-      metadata = await import('@/ArduPilot-Parameter-Repository/Copter-4.3/apm.pdef.json')
-    } else if (autopilot.vehicle_type.toLowerCase().includes('rover')
-      || autopilot.vehicle_type.toLowerCase().includes('boat')) {
-      metadata = await import('@/ArduPilot-Parameter-Repository/Rover-4.2/apm.pdef.json')
-    }
 
-    for (const category of Object.values(metadata)) {
-      for (const [name, parameter] of Object.entries(category)) {
-        if (isNumber(parameter)) { // ignore "json" entry
-          console.log(`ignoring ${name} : ${parameter}`)
-          continue
+    if (autopilot_data.autopilot_type === MavAutopilot.MAV_AUTOPILOT_PX4) {
+      this.metadata = fromPX4toArduPilotParametersMetadata(await fetchPX4Metadata())
+    } else {
+      let metadata: MetadataFile
+      if (autopilot.vehicle_type === 'Submarine') {
+        metadata = await import('@/ArduPilot-Parameter-Repository/Sub-4.1/apm.pdef.json')
+      }
+      // This is to avoid importing a 40 lines enum from mavlink and adding a switch case with 40 cases
+      else if (autopilot.vehicle_type.toLowerCase().includes('copter')
+        || autopilot.vehicle_type.toLowerCase().includes('rotor')) {
+        metadata = await import('@/ArduPilot-Parameter-Repository/Copter-4.3/apm.pdef.json')
+      } else if (autopilot.vehicle_type.toLowerCase().includes('rover')
+        || autopilot.vehicle_type.toLowerCase().includes('boat')) {
+        metadata = await import('@/ArduPilot-Parameter-Repository/Rover-4.2/apm.pdef.json')
+      }
+
+      for (const category of Object.values(metadata)) {
+        for (const [name, parameter] of Object.entries(category)) {
+          if (isNumber(parameter)) { // ignore "json" entry
+            console.log(`ignoring ${name} : ${parameter}`)
+            continue
+          }
+          this.metadata[name] = parameter
         }
-        this.metadata[name] = parameter
       }
     }
 
@@ -90,14 +145,15 @@ export default class ParametersTable {
       param.shortDescription = this.metadata[param.name].DisplayName
       param.units = this.metadata[param.name].Units
       const {
-        Values, Bitmask, ReadOnly, Increment, RebootRequired, Range,
+        Values, Bitmask, ReadOnly, Increment, RebootRequired, Range, Default,
       } = this.metadata[param.name]
       param.options = Values
       param.bitmask = Bitmask
       param.readonly = ReadOnly === 'True'
       param.increment = Increment ? parseFloat(Increment) : undefined
       param.rebootRequired = RebootRequired === 'True'
       param.range = Range ? { high: parseFloat(Range.high), low: parseFloat(Range.low) } : undefined
+      param.default = Default ? parseFloat(Default) : undefined
     }
     this.parametersDict[param.id] = param
   }

core/frontend/src/types/autopilot/parameter.ts

@@ -37,6 +37,8 @@ export default interface Parameter {
     paramType: { type: ParamType }
 
     units?: string
+
+    default?: number
 }
 
 export function printParam(param?: Parameter): string {

core/frontend/src/types/autopilot/px4/metadata-fetcher.ts

@@ -0,0 +1,56 @@
+interface PX4ParametersMetadataValuesItem {
+  description: string
+  value: number
+}
+
+interface PX4ParametersMetadataBitmaskItem {
+  description: string
+  index: number
+}
+
+interface PX4ParametersMetadata {
+  name: string
+  category: string
+  group: string
+  type: string
+
+  shortDesc: string
+  longDesc?: string
+
+  default: number
+  max?: number
+  min?: number
+  increment?: number
+  units?: string
+
+  values?: PX4ParametersMetadataValuesItem[]
+  bitmask?: PX4ParametersMetadataBitmaskItem[]
+
+  decimalPlaces?: number
+  volatile?: boolean
+  rebootRequire?: boolean
+}
+
+async function fetchPX4MetadataFromBoard(): Promise<PX4ParametersMetadata[]> {
+  // TODO - Add mav ftp fetch to get parameters.json from board
+  throw new Error('Not implemented')
+}
+
+async function fetchPX4Metadata(): Promise<PX4ParametersMetadata[]> {
+  let metadata
+  try {
+    metadata = await fetchPX4MetadataFromBoard()
+  } catch (e) {
+    metadata = (await import('@/PX4-parameters/master/parameters.json')).parameters
+  }
+
+  return metadata as PX4ParametersMetadata[]
+}
+
+export {
+  fetchPX4Metadata,
+  fetchPX4MetadataFromBoard,
+  PX4ParametersMetadata,
+  PX4ParametersMetadataBitmaskItem,
+  PX4ParametersMetadataValuesItem,
+}