1.4.2 patched for radcam

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

@@ -178,7 +178,7 @@ export default Vue.extend({
   watch: {
     param(newParam) {
       this.internal_new_value = newParam?.value ?? 0
-      this.internal_new_value_as_string = this.internal_new_value.toString()
+      this.internal_new_value_as_string = String(this.internal_new_value)
     },
     is_form_valid(valid) {
       this.$emit('form-valid-change', valid)
@@ -200,6 +200,7 @@ export default Vue.extend({
       this.updateSelectedFlags()
       if (this.last_sent_value === undefined) {
         this.internal_new_value = this.param_value
+        this.internal_new_value_as_string = String(this.internal_new_value)
       }
     },
   },

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

@@ -492,6 +492,7 @@ export default Vue.extend({
   border-radius: 4px;
   font-size: 12px;
   white-space: nowrap;
+  user-select: none;
   text-align: center;
 }
 </style>

core/frontend/src/components/vehiclesetup/PwmSetup.vue

@@ -50,13 +50,14 @@
                   width="100%"
                   height="65"
                   class="ma-0 pa-0"
-                  @mouseover="highlight = [
-                    stringToUserFriendlyText(printParam(getParam(`SERVO${motor.servo}_FUNCTION`))),
-                  ]"
+                  @mouseover="highlightMotor(motor)"
                   @mouseleave="highlight = default_highlight"
                 >
                   <td width="20%">
                     {{ motor.name }}
+                    <span v-if="motor.servo !== motor.motor">
+                      (Output {{ motor.servo }})
+                    </span>
                   </td>
                   <td width="10%">
                     <parameterSwitch
@@ -177,6 +178,7 @@ import ParameterSwitch from '../common/ParameterSwitch.vue'
 
 interface MotorTestTarget {
   name: string
+  motor: number
   servo: number // target and servo differ in rover
   target: number
   direction: number
@@ -246,18 +248,20 @@ export default Vue.extend({
       return this.servo_function_parameters.filter(
         (parameter) => parameter.value >= SERVO_FUNCTION.MOTOR1 && parameter.value <= SERVO_FUNCTION.MOTOR8,
       ).map((parameter) => {
-        const number = parseInt(/\d+/g.exec(parameter.name)?.[0] ?? '0', 10)
-        const name = param_value_map.Submarine[parameter.name] ?? `Motor ${number}`
-        const direction_parameter = autopilot_data.parameterRegex(`MOT_${number}_DIRECTION`)?.[0]
-        const target = number - 1
+        const servo_number = parseInt(/\d+/g.exec(parameter.name)?.[0] ?? '0', 10)
+        const motor_number = parseInt(/\d+/g.exec(printParam(parameter))?.[0] ?? '0', 10)
+        const name = param_value_map.Submarine[parameter.name] ?? `Motor ${motor_number}`
+        const direction_parameter = autopilot_data.parameterRegex(`MOT_${motor_number}_DIRECTION`)?.[0]
+        const target = motor_number - 1
         return {
           name,
-          servo: number,
+          servo: servo_number,
+          motor: motor_number,
           target,
           direction: direction_parameter.value,
           reverse_parameter: direction_parameter,
         }
-      })
+      }).sort((a, b) => a.motor - b.motor)
     },
     available_motors(): MotorTestTarget[] {
       if (this.is_rover) {
@@ -290,6 +294,7 @@ export default Vue.extend({
         return {
           name,
           servo,
+          motor: servo,
           target,
           direction: reverse_parameter.value ? -1.0 : 1.0,
           reverse_parameter,
@@ -399,6 +404,13 @@ export default Vue.extend({
     this.uninstallListeners()
   },
   methods: {
+    highlightMotor(motor: MotorTestTarget) {
+      if (this.is_rover) {
+        this.highlight = [this.stringToUserFriendlyText(printParam(this.getParam(`SERVO${motor.servo}_FUNCTION`)))]
+      } else {
+        this.highlight = [`Motor${motor.motor}`]
+      }
+    },
     convert_servo_name(name: string) {
       return name.replace('SERVO', 'Output ').replace('_FUNCTION', '')
     },

core/frontend/src/components/video-manager/VideoStreamCreationDialog.vue

@@ -439,13 +439,13 @@ export default Vue.extend({
         case StreamType.UDP:
           if (!this.stream_endpoints[index].includes('udp://')) {
             // Vue.set() forces the update of a nested property
-            Vue.set(this.stream_endpoints, index, `udp://${this.user_ip_address}:${5600 + index}`)
+            Vue.set(this.stream_endpoints, index, `udp://${this.user_ip_address}:${5600 + 2 * index}`)
           }
           break
         case StreamType.UDP265:
           if (!this.stream_endpoints[index].includes('udp265://')) {
             // Vue.set() forces the update of a nested property
-            Vue.set(this.stream_endpoints, index, `udp265://${this.user_ip_address}:${5600 + index}`)
+            Vue.set(this.stream_endpoints, index, `udp265://${this.user_ip_address}:${5600 + 2 * index}`)
           }
           break
         case StreamType.RTSP:

core/frontend/src/router/index.ts

@@ -123,6 +123,11 @@ const routes: Array<RouteConfig> = [
     name: 'Named Extensions',
     component: ExtensionView,
   },
+  {
+    path: '/extensionv2/:name',
+    name: 'Named Extensions (v2)',
+    component: ExtensionView,
+  },
   {
     path: '/tools/extensions-manager',
     name: 'Extension Manager',

core/frontend/src/views/ExtensionView.vue

@@ -45,11 +45,15 @@ export default Vue.extend({
       if (helper.services.length === 0) {
         return undefined
       }
-      return helper.services.filter(
-        (service) => service?.metadata?.sanitized_name === this.$route.params.name,
-      )[0]?.port ?? null
+      return this.service?.port ?? null
+    },
+    supports_v2(): boolean {
+      return this.service?.metadata?.works_in_relative_paths ?? false
     },
     service_path(): string {
+      if (this.supports_v2) {
+        return `/extensionv2/${this.$route.params.name}`
+      }
       return `${window.location.protocol}//${window.location.hostname}:${this.detected_port}`
       + `/${this.remaining_path ?? ''}`
       + `?time=${this.cache_busting_time}`

core/services/ardupilot_manager/autopilot_manager.py

@@ -499,8 +499,12 @@ def is_ardupilot_process(process: psutil.Process) -> bool:
             """Checks if given process is using a Ardupilot's firmware file, for any known platform."""
             for platform in Platform:
                 firmware_path = self.firmware_manager.firmware_path(platform)
-                if str(firmware_path) in " ".join(process.cmdline()):
-                    return True
+                try:
+                    if str(firmware_path) in " ".join(process.cmdline()):
+                        return True
+                except psutil.NoSuchProcess:
+                    # process may have died before we could call cmdline()
+                    pass
             return False
 
         return list(filter(is_ardupilot_process, psutil.process_iter()))
@@ -579,6 +583,7 @@ async def start_ardupilot(self) -> None:
 
             if flight_controller.platform.type == PlatformType.Linux:
                 assert isinstance(flight_controller, LinuxFlightController)
+                flight_controller.setup()
                 await self.start_linux_board(flight_controller)
             elif flight_controller.platform.type == PlatformType.Serial:
                 await self.start_serial(flight_controller)

core/services/ardupilot_manager/flight_controller_detector/linux/linux_boards.py

@@ -1,3 +1,4 @@
+import os
 from typing import List, Type
 
 from smbus2 import SMBus
@@ -8,6 +9,9 @@
 class LinuxFlightController(FlightController):
     """Linux-based Flight-controller board."""
 
+    STANDARD_SCRIPT_DIRECTORY_PATH = "/root/.config/ardupilot-manager/firmware/scripts"
+    LUA_SCRIPT_DIRECTORY_PATH = "/shortcuts/lua_scripts"
+
     @property
     def type(self) -> PlatformType:
         return PlatformType.Linux
@@ -26,6 +30,13 @@ def check_for_i2c_device(self, bus_number: int, address: int) -> bool:
         except OSError:
             return False
 
+    def setup(self) -> None:
+        os.makedirs(self.STANDARD_SCRIPT_DIRECTORY_PATH, exist_ok=True)
+        try:
+            os.symlink(self.STANDARD_SCRIPT_DIRECTORY_PATH, self.LUA_SCRIPT_DIRECTORY_PATH)
+        except FileExistsError:
+            pass
+
     @classmethod
     def get_all_boards(cls) -> List[Type["LinuxFlightController"]]:
         all_subclasses = []

core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py

@@ -9,6 +9,7 @@
 class MAVLinkServer(AbstractRouter):
     def __init__(self) -> None:
         super().__init__()
+        self.log_path: Optional[str] = None
 
     def _get_version(self) -> Optional[str]:
         binary = self.binary()
@@ -40,7 +41,10 @@ def convert_endpoint(endpoint: Endpoint) -> str:
         filtered_endpoints = Endpoint.filter_enabled(self.endpoints())
         endpoints = " ".join([convert_endpoint(endpoint) for endpoint in [master_endpoint, *filtered_endpoints]])
 
-        return f"{self.binary()} {endpoints}"
+        if not self.log_path:
+            self.log_path = "/var/logs/blueos/services/mavlink-server/"
+
+        return f"{self.binary()} {endpoints} --log-path={self.log_path}"
 
     @staticmethod
     def name() -> str: