Skip to content

Commit

Permalink
add mavlink port set config options
Browse files Browse the repository at this point in the history 
fix missing #endif

refactor sendResponse and split out modechange

add mavlink port config options
  • Loading branch information
@AlessandroAU
AlessandroAU committed Oct 16, 2024
1 parent 575681d commit f60c5cb
Show file tree
Hide file tree
Showing 6 changed files with 202 additions and 16 deletions.
79 changes: 79 additions & 0 deletions html/scan.js
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ function _(el) {

function init() {
initAat();
initMavLink();

// sends XMLHttpRequest, so do it last
initOptions();
Expand All @@ -25,6 +26,27 @@ function initAat() {
);
}

function initMavLink() {
// Fetch initial MavLink configuration
const xmlhttp = new XMLHttpRequest();
xmlhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
const data = JSON.parse(this.responseText);
updateMavLinkConfig(data);

// Start periodic updates of MavLink stats
updateMavLinkStats();
setInterval(updateMavLinkStats, 1000);

const resetButton = _('mavlink_reset_defaults');
if (resetButton) {
resetButton.addEventListener('click', resetMavLinkDefaults);
}
}
};
xmlhttp.open('GET', '/mavlink', true);
xmlhttp.send();
}
function initOptions() {
const xmlhttp = new XMLHttpRequest();
xmlhttp.onreadystatechange = function() {
Expand All @@ -38,6 +60,63 @@ function initOptions() {
xmlhttp.send();
}

function updateMavLinkConfig(data) {
_('mavlink_listen_port').value = data.ports.listen;
_('mavlink_send_port').value = data.ports.send;
}

function updateMavLinkStats() {
const xmlhttp = new XMLHttpRequest();
xmlhttp.onreadystatechange = function() {
if (this.readyState == 4 && this.status == 200) {
const data = JSON.parse(this.responseText);

// Update Stats
_('mavlink_gcs_ip').textContent = data.ip.gcs;
_('mavlink_packets_down').textContent = data.counters.packets_down;
_('mavlink_packets_up').textContent = data.counters.packets_up;
_('mavlink_drops_down').textContent = data.counters.drops_down;
_('mavlink_overflows_down').textContent = data.counters.overflows_down;
}
};
xmlhttp.open('GET', '/mavlink', true);
xmlhttp.send();
}

function resetMavLinkDefaults() {
const defaultSendPort = 14550;
const defaultListenPort = 14555;

// Update the input fields
_('mavlink_listen_port').value = defaultListenPort;
_('mavlink_send_port').value = defaultSendPort;

// Send the new values to the server
const xmlhttp = new XMLHttpRequest();
xmlhttp.onreadystatechange = function() {
if (this.readyState == 4) {
if (this.status == 200) {
cuteAlert({
type: "success",
title: "Default Settings Applied",
message: "MavLink ports have been reset to default values."
});
// Refresh the MavLink stats to reflect the changes
updateMavLinkStats();
} else {
cuteAlert({
type: "error",
title: "Error",
message: "Failed to apply default settings. Please try again."
});
}
}
};
xmlhttp.open('POST', '/setmavlink', true);
xmlhttp.setRequestHeader('Content-type', 'application/x-www-form-urlencoded');
xmlhttp.send(`listen=${defaultListenPort}&send=${defaultSendPort}`);
}

function updateConfig(data) {
let config = data.config;
if (config.mode==="STA") {
Expand Down
49 changes: 49 additions & 0 deletions html/txbp_index.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ <h1><b>ExpressLRS</b></h1>
<li id="tx_tab" class="mui--is-active"><a data-mui-toggle="tab" data-mui-controls="pane-justified-1">TX</a></li>
<li><a data-mui-toggle="tab" data-mui-controls="pane-justified-2">Backpack</a></li>
<li><a data-mui-toggle="tab" data-mui-controls="pane-justified-3">Network</a></li>
<li><a data-mui-toggle="tab" data-mui-controls="pane-justified-4">MavLink</a></li>
</ul>

<div class="mui-tabs__pane mui--is-active" id="pane-justified-1">
Expand Down Expand Up @@ -97,6 +98,54 @@ <h2>Home Network: <span id="ssid"></span></h2>
<a id="access" href="#" class="mui-btn mui-btn--primary">Disconnect</a>
</div>
</div>

<div class="mui-tabs__pane" id="pane-justified-4">
<h2>MavLink Configuration</h2>
<form action="/setmavlink" id="mavlink_form" method="POST" autocomplete="off" class="mui-form">
<div class="mui-textfield">
Send Port
<input type="number" id="mavlink_send_port" name="send" placeholder="Send Port">
</div>
<div class="mui-textfield">
Listen Port
<input type="number" id="mavlink_listen_port" name="listen" placeholder="Listen Port">
</div>
<!-- I wanted to avoid adding css -->
<table>
<tr>
<td>
<input type="submit" value="Save Configuration" class="mui-btn mui-btn--primary">
</td>
<td>
<button id="mavlink_reset_defaults" class="mui-btn mui-btn--primary">Reset Defaults</button>
</td>
</tr>
</table>
</form>
<h3>MavLink Statistics</h3>
<table class="mui-table">
<tr>
<td>Packets Downlink:</td>
<td id="mavlink_packets_down"></td>
</tr>
<tr>
<td>Packets Uplink:</td>
<td id="mavlink_packets_up"></td>
</tr>
<tr>
<td>Drops Downlink:</td>
<td id="mavlink_drops_down"></td>
</tr>
<tr>
<td>Overflows Downlink:</td>
<td id="mavlink_overflows_down"></td>
</tr>
<tr>
<td>GCS IP Adresses</Address>:</td>
<td id="mavlink_gcs_ip"></td>
</tr>
</table>
</div>
</div>
</div>
<footer>
Expand Down
4 changes: 0 additions & 4 deletions lib/MAVLink/MAVLink.h
View file
Original file line number Diff line number Diff line change
@@ -1,10 +1,6 @@
#if defined(MAVLINK_ENABLED)
#include "common/mavlink.h"

// This is the port that we will listen for mavlink packets on
constexpr uint16_t MAVLINK_PORT_LISTEN = 14555;
// This is the port that we will send mavlink packets to
constexpr uint16_t MAVLINK_PORT_SEND = 14550;
// Size of the buffer that we will use to store mavlink packets in units of mavlink_message_t
constexpr size_t MAVLINK_BUF_SIZE = 16;
// Threshold at which we will flush the buffer
Expand Down
58 changes: 49 additions & 9 deletions lib/WIFI/devWIFI.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -228,28 +228,33 @@ static void WebUpdateSendNetworks(AsyncWebServerRequest *request)
}
}

static void sendResponse(AsyncWebServerRequest *request, const String &msg, WiFiMode_t mode) {
static void sendResponse(AsyncWebServerRequest *request, const String &msg, const String &type = "application/json") {
AsyncWebServerResponse *response = request->beginResponse(200, "text/plain", msg);
response->addHeader("Connection", "close");
request->send(response);
request->client()->close();
changeTime = millis();
}

static void changeWifiMode(WiFiMode_t mode){
changeMode = mode;
}

static void WebUpdateAccessPoint(AsyncWebServerRequest *request)
{
DBGLN("Starting Access Point");
String msg = String("Access Point starting, please connect to access point '") + wifi_ap_ssid + "' with password '" + wifi_ap_password + "'";
sendResponse(request, msg, WIFI_AP);
sendResponse(request, msg);
changeWifiMode(WIFI_AP);
}

static void WebUpdateConnect(AsyncWebServerRequest *request)
{
DBGLN("Connecting to home network");
String msg = String("Connecting to network '") + station_ssid + "', connect to http://" +
myHostname + ".local from a browser on that network";
sendResponse(request, msg, WIFI_STA);
sendResponse(request, msg);
changeWifiMode(WIFI_STA);
}

static void WebUpdateSetHome(AsyncWebServerRequest *request)
Expand Down Expand Up @@ -280,13 +285,16 @@ static void WebUpdateForget(AsyncWebServerRequest *request)
strcpy(station_ssid, firmwareOptions.home_wifi_ssid);
strcpy(station_password, firmwareOptions.home_wifi_password);
String msg = String("Temporary network forgotten, attempting to connect to network '") + station_ssid + "'";
sendResponse(request, msg, WIFI_STA);
sendResponse(request, msg);
changeWifiMode(WIFI_STA);

}
else {
station_ssid[0] = 0;
station_password[0] = 0;
String msg = String("Home network forgotten, please connect to access point '") + wifi_ap_ssid + "' with password '" + wifi_ap_password + "'";
sendResponse(request, msg, WIFI_AP);
sendResponse(request, msg);
changeWifiMode(WIFI_AP);
}
}

Expand Down Expand Up @@ -465,8 +473,8 @@ static void WebMAVLinkHandler(AsyncWebServerRequest *request)
json["counters"]["packets_up"] = stats->packets_uplink;
json["counters"]["drops_down"] = stats->drops_downlink;
json["counters"]["overflows_down"] = stats->overflows_downlink;
json["ports"]["listen"] = MAVLINK_PORT_LISTEN;
json["ports"]["send"] = MAVLINK_PORT_SEND;
json["ports"]["listen"] = config.GetMavlinkListenPort();
json["ports"]["send"] = config.GetMavlinkSendPort();
if (gcsIPSet) {
json["ip"]["gcs"] = gcsIP.toString();
} else {
Expand All @@ -478,6 +486,35 @@ static void WebMAVLinkHandler(AsyncWebServerRequest *request)
serializeJson(json, *response);
request->send(response);
}

static void WebUpdateSetMavLink(AsyncWebServerRequest *request)
{
uint16_t listen_port = request->arg("listen").toInt();
uint16_t send_port = request->arg("send").toInt();

DBGLN("Setting MavLink configuration: listen=%d, send=%d", listen_port, send_port);

config.SetMavlinkListenPort(listen_port);
config.SetMavlinkSendPort(send_port);
config.SetWiFiService(WIFI_SERVICE_MAVLINK_TX);
config.Commit();

// Restart MavLink UDP service
mavlinkUDP.stop();
mavlinkUDP.begin(config.GetMavlinkListenPort());

String response = F(
"<html><head>"
"<meta http-equiv='refresh' content='2;url=/'>"
"<title>MavLink Settings Updated</title>"
"</head><body>"
"<h1>MavLink Settings Updated Successfully</h1>"
"<p>Redirecting back to the main page in 2 seconds...</p>"
"</body></html>"
);

sendResponse(request, response, "text/html");
}
#endif

static void wifiOff()
Expand Down Expand Up @@ -600,6 +637,9 @@ static void startServices()
server.on("/config", HTTP_GET, GetConfiguration);
server.on("/networks.json", WebUpdateSendNetworks);
server.on("/sethome", WebUpdateSetHome);
#if defined(MAVLINK_ENABLED)
server.on("/setmavlink", WebUpdateSetMavLink);
#endif
server.on("/forget", WebUpdateForget);
server.on("/connect", WebUpdateConnect);
server.on("/access", WebUpdateAccessPoint);
Expand Down Expand Up @@ -632,7 +672,7 @@ static void startServices()

startMDNS();
#if defined(MAVLINK_ENABLED)
mavlinkUDP.begin(MAVLINK_PORT_LISTEN);
mavlinkUDP.begin(config.GetMavlinkListenPort());
#endif

servicesStarted = true;
Expand Down Expand Up @@ -748,7 +788,7 @@ static void HandleWebUpdate()
remote = WiFi.broadcastIP();
}

mavlinkUDP.beginPacket(remote, MAVLINK_PORT_SEND);
mavlinkUDP.beginPacket(remote, config.GetMavlinkSendPort());
mavlink_message_t* msgQueue = mavlink.GetQueuedMsgs();
for (uint8_t i = 0; i < mavlink.GetQueuedMsgCount(); i++)
{
Expand Down
22 changes: 19 additions & 3 deletions lib/config/config.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -47,11 +47,13 @@ void
TxBackpackConfig::SetDefaults()
{
m_config.version = TX_BACKPACK_CONFIG_VERSION | TX_BACKPACK_CONFIG_MAGIC;
m_config.startWiFi = false;
m_config.startWiFi = true;
m_config.ssid[0] = 0;
m_config.password[0] = 0;
memset(m_config.address, 0, 6);
m_config.wifiService = WIFI_SERVICE_UPDATE;
m_config.wifiService = WIFI_SERVICE_MAVLINK_TX;
m_config.mavlinkListenPort = 14555; // Default MavLink listen port
m_config.mavlinkSendPort = 14550; // Default MavLink send port
m_modified = true;
Commit();
}
Expand Down Expand Up @@ -97,6 +99,19 @@ TxBackpackConfig::SetTelemMode(telem_mode_t mode)
m_config.telemMode = mode;
m_modified = true;
}
void
TxBackpackConfig::SetMavlinkListenPort(uint16_t port)
{
m_config.mavlinkListenPort = port;
m_modified = true;
}

void
TxBackpackConfig::SetMavlinkSendPort(uint16_t port)
{
m_config.mavlinkSendPort = port;
m_modified = true;
}
#endif

/////////////////////////////////////////////////////
Expand Down Expand Up @@ -162,7 +177,7 @@ VrxBackpackConfig::SetDefaults()
#if defined(AAT_BACKPACK)
m_config.aat.satelliteHomeMin = 5;
m_config.aat.project = 0xff;
m_config.aat.servoSmooth = 5;
m_config.aat.gcsip
m_config.aat.centerDir = 0; // N
m_config.aat.servoEndpoints[0].low = 500; // AZIM
m_config.aat.servoEndpoints[0].high = 2500;
Expand Down Expand Up @@ -297,6 +312,7 @@ TimerBackpackConfig::Commit()
if (!m_modified)
{
// No changes
DBGLN("No Config Changes Detected")
return;
}
// Write the struct to eeprom
Expand Down
6 changes: 6 additions & 0 deletions lib/config/config.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@ typedef struct {
uint8_t address[6];
wifi_service_t wifiService;
telem_mode_t telemMode;
uint16_t mavlinkListenPort;
uint16_t mavlinkSendPort;
} tx_backpack_config_t;

class TxBackpackConfig
Expand All @@ -50,6 +52,8 @@ class TxBackpackConfig
uint8_t *GetGroupAddress() { return m_config.address; }
wifi_service_t GetWiFiService() { return m_config.wifiService; }
telem_mode_t GetTelemMode() { return m_config.telemMode; }
uint16_t GetMavlinkListenPort() const { return m_config.mavlinkListenPort; }
uint16_t GetMavlinkSendPort() const { return m_config.mavlinkSendPort; }

// Setters
void SetStorageProvider(ELRS_EEPROM *eeprom);
Expand All @@ -60,6 +64,8 @@ class TxBackpackConfig
void SetGroupAddress(const uint8_t address[6]);
void SetWiFiService(wifi_service_t service);
void SetTelemMode(telem_mode_t mode);
void SetMavlinkListenPort(uint16_t port);
void SetMavlinkSendPort(uint16_t port);

private:
tx_backpack_config_t m_config;
Expand Down

0 comments on commit f60c5cb

Please sign in to comment.