Autopilot Manager: allow detecting all serial boards, start infra-structure for supporting PX4

frontend: update to deal with boards with multiple platforms

cleaning up

unused file

cleanup

add tools for syncing files between local repo and remote blueos on the pi

include current board

commonwealth: support for coroutines on @temporary_cache()

asyncing

test decorators

core: bump bluerobotics-ping to 0.2.3

wip

wip: use exclusive=True on ardupilot_fw_uploader.py

wip

test

test

Author: Williangalvani

core/Dockerfile

@@ -33,7 +33,7 @@ RUN /home/pi/tools/install-static-binaries.sh
 # Generation of python virtual environment for our libraries and services
 FROM base AS install-services-and-libs
 
-RUN apt update && apt install -y --no-install-recommends g++
+RUN apt update && apt install -y --no-install-recommends g++ libcap2-bin libcap2-dev
 
 # UV installation
 ADD https://astral.sh/uv/install.sh /uv-installer.sh

core/frontend/src/components/autopilot/FirmwareManager.vue

@@ -113,7 +113,7 @@
           label="Board"
           hint="If no board is chosen the system will try to flash the currently running board."
           class="ma-1 pa-0"
-          @change="chosen_vehicle = null"
+          @change="clearFirmwareSelection()"
         />
         <div
           v-if="upload_type === UploadType.Cloud"
@@ -126,12 +126,22 @@
             class="ma-1 pa-0"
             @change="updateAvailableFirmwares"
           />
+          <v-select
+            v-if="platforms_available.length > 1"
+            v-model="chosen_platform"
+            class="ma-1 pa-0"
+            :disabled="disable_firmware_selection"
+            :items="platforms_available"
+            :label="platform_selector_label"
+            :loading="loading_firmware_options"
+            required
+          />
           <div class="d-flex">
             <v-select
               v-model="chosen_firmware_url"
               class="ma-1 pa-0"
               :disabled="disable_firmware_selection"
-              :items="showable_firmwares"
+              :items="showable_firmware_deduplicated"
               :label="firmware_selector_label"
               :loading="loading_firmware_options"
               required
@@ -188,19 +198,35 @@
       v-model="show_install_progress"
       hide-overlay
       persistent
-      width="300"
+      width="600"
     >
       <v-card
         color="primary"
         dark
       >
+        <v-card-title>
+          Installing firmware
+        </v-card-title>
         <v-card-text>
-          Installing firmware. Please wait.
           <v-progress-linear
             indeterminate
             color="white"
-            class="mb-0"
+            class="mb-4"
           />
+          <div
+            v-if="install_logs.length > 0"
+            ref="installLogsContainer"
+            class="install-logs pa-2"
+          >
+            <div
+              v-for="(log, index) in install_logs"
+              :key="index"
+              :class="{ 'error-log': log.stream === 'stderr', 'info-log': log.stream === 'stdout' }"
+              class="log-line"
+            >
+              {{ log.data.replace(/\r/g, '\n') }}<br>
+            </div>
+          </div>
         </v-card-text>
       </v-card>
     </v-dialog>
@@ -221,7 +247,6 @@
 </template>
 
 <script lang="ts">
-import { AxiosRequestConfig } from 'axios'
 import Vue from 'vue'
 
 import Notifier from '@/libs/notifier'
@@ -236,7 +261,7 @@ import {
   Vehicle,
 } from '@/types/autopilot'
 import { autopilot_service } from '@/types/frontend_services'
-import back_axios, { isBackendOffline } from '@/utils/api'
+import back_axios from '@/utils/api'
 
 const notifier = new Notifier(autopilot_service)
 
@@ -278,11 +303,19 @@ export default Vue.extend({
       available_firmwares: [] as Firmware[],
       firmware_file: null as (Blob | null),
       install_result_message: '',
+      chosen_platform: null as (string | null),
+      install_logs: [] as Array<{stream: string, data: string}>,
       rebootOnBoardComputer,
       requestOnBoardComputerReboot,
     }
   },
   computed: {
+    platforms_available(): string[] {
+      return Array.from(new Set(this.available_firmwares.map((firmware) => firmware.platform)))
+    },
+    platform_selector_label(): string {
+      return this.loading_firmware_options ? 'Fetching available platforms...' : 'Platform'
+    },
     firmware_selector_label(): string {
       return this.loading_firmware_options ? 'Fetching available firmware...' : 'Firmware'
     },
@@ -333,8 +366,9 @@ export default Vue.extend({
       return this.chosen_vehicle == null || this.loading_firmware_options
     },
     showable_firmwares(): {value: URL, text: string}[] {
-      return this.available_firmwares
-        .map((firmware) => ({ value: firmware.url, text: firmware.name }))
+      return this.available_firmwares.filter(
+        (firmware) => firmware.platform === this.chosen_platform,
+      ).map((firmware) => ({ value: firmware.url, text: firmware.name }))
         .filter((firmware) => firmware.text !== 'OFFICIAL')
         .sort((a, b) => {
           const release_show_order = ['dev', 'beta', 'stable']
@@ -344,6 +378,16 @@ export default Vue.extend({
         })
         .reverse()
     },
+    showable_firmware_deduplicated(): {value: URL, text: string}[] {
+      // qdd the trailing filename from the url to the value of an entry if another entry has the same text
+      return this.showable_firmwares.map((firmware) => {
+        const same_text_entries = this.showable_firmwares.filter((f) => f.text === firmware.text)
+        if (same_text_entries.length > 1) {
+          return { value: firmware.value, text: `${firmware.text} (${firmware.value.toString().split('/').pop()})` }
+        }
+        return firmware
+      })
+    },
     allow_installing(): boolean {
       if (this.install_status === InstallStatus.Installing) {
         return false
@@ -368,25 +412,54 @@ export default Vue.extend({
         this.requestOnBoardComputerReboot()
       }
     },
+    platforms_available(new_value: string[]): void {
+      if (new_value.length === 1) {
+        const [chosen_platform] = new_value
+        this.chosen_platform = chosen_platform
+      }
+    },
+    available_boards(new_value: FlightController[]): void {
+      if (autopilot.current_board) {
+        const chosen_board = new_value.find((board: FlightController) => board.name === autopilot.current_board?.name)
+        if (chosen_board) {
+          this.chosen_board = chosen_board
+        }
+      }
+    },
+    install_logs(): void {
+      this.$nextTick(() => {
+        const container = this.$refs.installLogsContainer as HTMLElement | undefined
+        if (container) {
+          container.scrollTop = container.scrollHeight
+        }
+      })
+    },
   },
   mounted(): void {
     if (this.only_bootloader_boards_available) {
       this.setFirstNoSitlBoard()
     }
   },
   methods: {
+    clearFirmwareSelection(): void {
+      this.chosen_firmware_url = null
+      this.chosen_platform = null
+      this.available_firmwares = []
+    },
     setFirstNoSitlBoard(): void {
       const [first_board] = this.no_sitl_boards
       this.chosen_board = first_board
     },
     async updateAvailableFirmwares(): Promise<void> {
       this.chosen_firmware_url = null
+      this.chosen_platform = null
+      this.available_firmwares = []
       this.cloud_firmware_options_status = CloudFirmwareOptionsStatus.Fetching
       await back_axios({
         method: 'get',
         url: `${autopilot.API_URL}/available_firmwares`,
         timeout: 30000,
-        params: { vehicle: this.chosen_vehicle, board_name: this.chosen_board?.name },
+        params: { vehicle: this.chosen_vehicle, board_name: this.chosen_board?.platform.name },
       })
         .then((response) => {
           this.available_firmwares = response.data
@@ -405,21 +478,26 @@ export default Vue.extend({
     },
     async installFirmware(): Promise<void> {
       this.install_status = InstallStatus.Installing
-      const axios_request_config: AxiosRequestConfig = {
-        method: 'post',
+      this.install_logs = []
+
+      let url = ''
+      let requestOptions: RequestInit = {
+        method: 'POST',
       }
+
       if (this.upload_type === UploadType.Cloud) {
         // Populate request with data for cloud install
-        Object.assign(axios_request_config, {
-          url: `${autopilot.API_URL}/install_firmware_from_url`,
-          params: { url: this.chosen_firmware_url, board_name: this.chosen_board?.name },
+        const params = new URLSearchParams({
+          url: this.chosen_firmware_url?.toString() ?? '',
+          board_name: this.chosen_board?.platform.name ?? '',
         })
+        url = `${autopilot.API_URL}/install_firmware_from_url?${params}`
       } else if (this.upload_type === UploadType.Restore) {
         // Populate request with data for restore install
-        Object.assign(axios_request_config, {
-          url: `${autopilot.API_URL}/restore_default_firmware`,
-          params: { board_name: this.chosen_board?.name },
+        const params = new URLSearchParams({
+          board_name: this.chosen_board?.platform.name ?? '',
         })
+        url = `${autopilot.API_URL}/restore_default_firmware?${params}`
       } else {
         // Populate request with data for file install
         if (!this.firmware_file) {
@@ -429,32 +507,91 @@ export default Vue.extend({
         }
         const form_data = new FormData()
         form_data.append('binary', this.firmware_file)
-        Object.assign(axios_request_config, {
-          url: `${autopilot.API_URL}/install_firmware_from_file`,
-          headers: { 'Content-Type': 'multipart/form-data' },
-          params: { board_name: this.chosen_board?.name },
-          data: form_data,
+        const params = new URLSearchParams({
+          board_name: this.chosen_board?.platform.name ?? '',
         })
+        url = `${autopilot.API_URL}/install_firmware_from_file?${params}`
+        requestOptions = {
+          method: 'POST',
+          body: form_data,
+        }
       }
 
-      await back_axios(axios_request_config)
-        .then(() => {
-          this.install_status = InstallStatus.Succeeded
-          this.install_result_message = 'Successfully installed new firmware'
-          autopilot_data.reset()
-        })
-        .catch((error) => {
-          this.install_status = InstallStatus.Failed
-          if (isBackendOffline(error)) { return }
-          // Catch Chrome's net:::ERR_UPLOAD_FILE_CHANGED error
-          if (error.message && error.message === 'Network Error') {
-            this.install_result_message = 'Upload fail. If the file was changed, clean the form and re-select it.'
-          } else {
-            this.install_result_message = error.response?.data?.detail ?? error.message
+      try {
+        const response = await fetch(url, requestOptions)
+
+        if (!response.ok) {
+          throw new Error(`HTTP error! status: ${response.status}`)
+        }
+
+        const reader = response.body?.getReader()
+        const decoder = new TextDecoder()
+
+        if (!reader) {
+          throw new Error('No response body')
+        }
+
+        let buffer = ''
+
+        // eslint-disable-next-line no-constant-condition
+        while (true) {
+          const { done, value } = await reader.read()
+
+          if (done) break
+
+          buffer += decoder.decode(value, { stream: true })
+          const lines = buffer.split('\n')
+
+          // Keep the last incomplete line in the buffer
+          buffer = lines.pop() ?? ''
+
+          // Process complete lines
+          for (const line of lines) {
+            if (line.trim()) {
+              try {
+                const log = JSON.parse(line)
+
+                // Check if backend sent "done" signal to close connection
+                if (log.stream.includes('Started autopilot')) {
+                  // Close the progress dialog immediately
+                  this.install_status = InstallStatus.Succeeded
+                  this.install_result_message = 'Installation completed'
+                  return
+                }
+
+                this.install_logs.push(log)
+              } catch (e) {
+                console.error('Failed to parse log line:', line, e)
+              }
+            }
           }
+        }
+
+        // Check if there were any error messages in the logs
+        const hasErrors = this.install_logs.some((log) => log.stream === 'stderr')
+        const lastError = this.install_logs.filter((log) => log.stream === 'stderr').pop()
+        // edge case. the re-plug message is not an error, but is thrown to stderr to get user's attention
+        if (hasErrors && !lastError?.data.includes('re-plug the USB connector')) {
+          this.install_status = InstallStatus.Failed
+          this.install_result_message = lastError?.data || 'Installation failed'
           const message = `Could not install firmware: ${this.install_result_message}.`
           notifier.pushError('FILE_FIRMWARE_INSTALL_FAIL', message)
-        })
+        } else {
+          this.install_status = InstallStatus.Succeeded
+          this.install_result_message = 'Successfully installed new firmware'
+          autopilot_data.reset()
+        }
+      } catch (error) {
+        this.install_status = InstallStatus.Failed
+        // Catch Chrome's net:::ERR_UPLOAD_FILE_CHANGED error
+        if (error.message && error.message === 'Network Error') {
+          this.install_result_message = 'Upload fail. If the file was changed, clean the form and re-select it.'
+        } else {
+          this.install_result_message = error.response?.data?.detail ?? error.message
+        }
+        const message = `Could not install firmware: ${this.install_result_message}.`
+        notifier.pushError('FILE_FIRMWARE_INSTALL_FAIL', message)
+      }
     },
   },
 })
@@ -498,4 +635,28 @@ export default Vue.extend({
     align-items: flex-end;
   }
 }
+
+.install-logs {
+  background-color: rgba(0, 0, 0, 0.8);
+  border-radius: 4px;
+  max-height: 300px;
+  overflow-y: auto;
+  font-family: 'Courier New', monospace;
+  font-size: 12px;
+}
+
+.log-line {
+  padding: 2px 4px;
+  white-space: pre-wrap;
+  word-break: break-word;
+}
+
+.info-log {
+  color: #ffffff;
+}
+
+.error-log {
+  color: #ff5252;
+  font-weight: bold;
+}
 </style>

core/frontend/src/components/vehiclesetup/overview/common.ts

@@ -1,8 +1,6 @@
-import { Platform } from '@/types/autopilot'
-
 export default function toBoardFriendlyChannel(board: string | undefined, servo: string): string {
   const servo_number = parseInt(servo.replace('SERVO', '').replace('_FUNCTION', ''), 10)
-  if (board === Platform.Pixhawk1) {
+  if (board === "Pixhawk1") {
     if (servo_number >= 9) {
       return `Aux ${servo_number - 8}`
     }