core: frontend: add notification for uncalibrated sensors

[nicoschmdt]

fix: #3292

Calibrated:

Uncalibrated:

Docker image for testing: nicoschmdt/blueos-core/notification-for-uncalibrated-sensors

Summary by Sourcery

Add a dashboard notification for uncalibrated sensors and propagate calibration status through the store

New Features:

• Track uncalibrated sensor status in the Vuex store
• Watch IMU and compass calibration flags to update uncalibrated state automatically
• Display a warning card with tooltip on the main UI when any sensor is uncalibrated

[sourcery-ai]

Reviewer's Guide

This PR introduces a real-time notification in the main App when any IMU or compass sensors remain uncalibrated by tracking their status via Vue watchers and storing the flag in the Vuex autopilot module.

Sequence diagram for real-time uncalibrated sensor notification update

sequenceDiagram
    participant OnboardSensorsVue
    participant AutopilotStore
    participant AppVue
    OnboardSensorsVue->>OnboardSensorsVue: Watch imu_is_calibrated/compass_is_calibrated
    OnboardSensorsVue->>AutopilotStore: setUncalibratedSensors(flag)
    AppVue->>AutopilotStore: Read uncalibrated_sensors
    AppVue-->>User: Show/hide uncalibrated sensors notification

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Class diagram for updated AutopilotStore and App.vue

classDiagram
    class AutopilotStore {
      +bool uncalibrated_sensors
      +setUncalibratedSensors(bool uncalibrated)
    }
    class App {
      +bool uncalibrated_sensors()
    }
    App --> AutopilotStore : uses uncalibrated_sensors

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File-Level Changes

Change	Details	Files
Added notification card for uncalibrated sensors in the main App component	Inserted a v-card with v-if and v-tooltip to display the warning Included mdi-alert-outline icon and “Uncalibrated sensors” title Exposed new computed property uncalibrated_sensors to read from store	core/frontend/src/App.vue
Implemented status tracking for sensor calibration in the OnboardSensors component	Added deep, immediate watchers on imu_is_calibrated and compass_is_calibrated Created updateUncalibratedSensorsStatus method to set store flag Invoked status update on component mount	core/frontend/src/components/vehiclesetup/overview/OnboardSensors.vue
Extended the autopilot Vuex store to hold uncalibrated sensor flag	Declared uncalibrated_sensors state property Added setUncalibratedSensors mutation to update the flag	core/frontend/src/store/autopilot.ts

Possibly linked issues

• core: frontend: Notification for uncalibrated sensors #3292: The PR implements the requested notification for uncalibrated sensors as described in the issue.

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[sourcery-ai]

Hey @nicoschmdt - I've reviewed your changes and they look great!

Prompt for AI Agents

Please address the comments from this code review:
## Individual Comments

### Comment 1
<location> `core/frontend/src/components/vehiclesetup/overview/OnboardSensors.vue:321` </location>
<code_context>
+    this.updateUncalibratedSensorsStatus()
   },
   methods: {
+    updateUncalibratedSensorsStatus() {
+      autopilot_data.setUncalibratedSensors(
+        Object.values(this.imu_is_calibrated).some((calibrated) => !calibrated)
+        || Object.values(this.compass_is_calibrated).some((calibrated) => !calibrated),
+      )
+    },
     print_bus(bus: BUS_TYPE): string {
</code_context>

<issue_to_address>
Potential issue if imu_is_calibrated or compass_is_calibrated are not objects.

If imu_is_calibrated or compass_is_calibrated can be null or undefined, Object.values will throw. Add a guard or default to an empty object to avoid runtime errors.
</issue_to_address>

### Comment 2
<location> `core/frontend/src/store/autopilot.ts:41` </location>
<code_context>

   verhicle_armed = false

+  uncalibrated_sensors = false
+
   get parameter() {
</code_context>

<issue_to_address>
Typo in property name 'verhicle_armed' remains unaddressed.

Please update the property name to 'vehicle_armed' for consistency and maintainability.

Suggested implementation:

```typescript
  vehicle_armed = false


```

```typescript
  setVehicleArmed(armed: boolean): void {
    this.vehicle_armed = armed
  }

```
</issue_to_address>

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[joaoantoniocardoso]

hmm... I'm not sure whether we want to put the notification in the widgets area, as the other notifications-like things are happening on the opposite side of the top bar.

[nicoschmdt]

I placed it in the widgets area because the armed notification appears in that same position. But if the uncalibrated sensors notification doesn't need to be as explicit as the armed one, maybe we could just use the notification system instead?

[joaoantoniocardoso]

Hmm, right, although they all share semantics, as you noted, they may differ in priority. The notification system is a good idea too (and perhaps we should do both). I'll let other people input on this.

Since this is UX, I hope @ES-Alexander can give his view on it?

[ES-Alexander]

As I understand it:

• The "Armed" indicator widget is to indicate when the interface is in "safe" mode, which requires additional confirmation before certain actions can occur (to prevent unsafe behaviour)
  • The calibration state does not have such an interface mode, and while action is required it does not meaningfully influence the use of BlueOS (just of the autopilot / vehicle control)
• The notifications list from the bell icon at the far right of the header bar is for events
  • The calibration state is reported regularly, but is not an event so much as a continuous state, so it does not belong in the list (to avoid being continual spam, or getting lost in subsequent notifications)
• The other icons at the right are for a mix of functionalities and state indicators
  • This seems like the best fit for the calibration details

I can think of a couple of potential interface options:

1. Augment the heartbeat indicator
   • Make it orange when uncalibrated
   • Include calibration details in the clicked expansion (at least showing which sensors are uncalibrated, but ideally also including calibration health/quality so it's useful even when calibrated, although this could be raised as an Issue and completed as a future improvement)
   • Add links when uncalibrated to jump to the relevant calibration page in BlueOS
2. Add one or more temporary indicators
   • This would be more like the storage full warning, which only shows up when the problem is happening
   • There could be a single indicator with a tooltip that "one or more sensors are uncalibrated", which clicking on could take to the vehicle setup overview page, OR
   • There could be separate indicators per sensor type, so when several sensors are uncalibrated there are multiple indicators, with click-through links going to the relevant calibration page (in the vehicle setup section)

I personally prefer the heartbeat augmentation approach, because calibration seems like part of the autopilot health, and I'm reluctant to have an ever-growing list of icons people need to know about and be able to interpret. That said, the temporary indicators approach still seems viable, and would at least be better than the current lack of indication. I'm unsure which would be easier to implement - they seem pretty similar in complexity 🤷‍♂️