Add tlog back, default to while arm

core/services/ardupilot_manager/api/v1/routers/index.py

@@ -16,6 +16,7 @@
 from fastapi_versioning import versioned_api_route
 from loguru import logger
 
+from ardupilot_manager.mavlink_proxy.AbstractRouter import TLogCondition
 from autopilot_manager import AutoPilotManager
 from exceptions import InvalidFirmwareFile
 from typedefs import Firmware, FlightController, Parameters, Serial, SITLFrame, Vehicle
@@ -207,6 +208,18 @@ def preferred_router() -> Any:
     return autopilot.load_preferred_router()
 
 
+@index_router_v1.post("/tlog_condition", summary="Set the condition for when to write Tlog files.")
+def set_tlog_condition(condition: TLogCondition) -> Any:
+    logger.debug("Setting Tlog condition")
+    autopilot.set_tlog_condition(condition)
+    logger.debug(f"Tlog write condition set to {condition}")
+
+
+@index_router_v1.get("/tlog_condition", summary="Retrieve Tlog file write condition")
+def tlog_condition() -> Any:
+    return autopilot.get_tlog_condition()
+
+
 @index_router_v1.get("/available_routers", summary="Retrieve preferred router")
 def available_routers() -> Any:
     return autopilot.get_available_routers()

core/services/ardupilot_manager/autopilot_manager.py

@@ -20,6 +20,7 @@
 from firmware.FirmwareManagement import FirmwareManager
 from flight_controller_detector.Detector import Detector as BoardDetector
 from flight_controller_detector.linux.linux_boards import LinuxFlightController
+from mavlink_proxy.AbstractRouter import TLogCondition
 from mavlink_proxy.Endpoint import Endpoint, EndpointType
 from mavlink_proxy.exceptions import EndpointAlreadyExists
 from mavlink_proxy.Manager import Manager as MavlinkManager
@@ -390,6 +391,12 @@ def load_preferred_router(self) -> Optional[str]:
     def get_available_routers(self) -> List[str]:
         return [router.name() for router in self.mavlink_manager.available_interfaces()]
 
+    def get_tlog_condition(self) -> TLogCondition:
+        return self.mavlink_manager.tlog_condition()
+
+    def set_tlog_condition(self, tlog_condition: TLogCondition) -> None:
+        self.mavlink_manager.set_tlog_condition(tlog_condition)
+
     async def start_sitl(self) -> None:
         self._current_board = BoardDetector.detect_sitl()
         if not self.firmware_manager.is_firmware_installed(self._current_board):

core/services/ardupilot_manager/mavlink_proxy/AbstractRouter.py

@@ -4,6 +4,7 @@
 import shlex
 import shutil
 import tempfile
+from enum import Enum
 from typing import Any, List, Optional, Set, Type
 
 from loguru import logger
@@ -18,6 +19,13 @@
 )
 
 
+class TLogCondition(str, Enum):
+    """When to write tlog files."""
+
+    Always = "always"
+    WhileArmed = "while_armed"
+
+
 class AbstractRouter(metaclass=abc.ABCMeta):
     def __init__(self) -> None:
         self._endpoints: Set[Endpoint] = set()
@@ -28,6 +36,7 @@ def __init__(self) -> None:
         # to avoid any problem in __del__
         self._binary = shutil.which(self.binary_name())
         self._logdir = pathlib.Path(tempfile.gettempdir())
+        self._tlog_condition = TLogCondition.WhileArmed
         self._version = self._get_version()
 
     @staticmethod
@@ -182,6 +191,12 @@ def set_logdir(self, directory: pathlib.Path) -> None:
             raise ValueError(f"Logging directory {directory} does not exist.")
         self._logdir = directory
 
+    def tlog_condition(self) -> TLogCondition:
+        return self._tlog_condition
+
+    def set_tlog_condition(self, tlog_condition: TLogCondition) -> None:
+        self._tlog_condition = tlog_condition
+
     def add_endpoint(self, endpoint: Endpoint) -> None:
         self._validate_endpoint(endpoint)
 

core/services/ardupilot_manager/mavlink_proxy/MAVLinkRouter.py

@@ -1,8 +1,10 @@
+import configparser
 import re
 import subprocess
+import tempfile
 from typing import Optional
 
-from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.AbstractRouter import AbstractRouter, TLogCondition
 from mavlink_proxy.Endpoint import Endpoint, EndpointType
 
 
@@ -21,6 +23,21 @@ def _get_version(self) -> Optional[str]:
 
         return None
 
+    def _write_configuration_file(self) -> str:
+        def convert_tlog_condition(tlog_condition: TLogCondition) -> str:
+            match tlog_condition:
+                case TLogCondition.Always:
+                    return "always"
+                case TLogCondition.WhileArmed:
+                    return "while-armed"
+
+        config = configparser.ConfigParser()
+        config["General"] = {"LogMode": convert_tlog_condition(self.tlog_condition())}
+
+        with tempfile.NamedTemporaryFile("w", suffix=".conf", delete=False) as temp_file:
+            config.write(temp_file, space_around_delimiters=True)
+            return temp_file.name
+
     def assemble_command(self, master_endpoint: Endpoint) -> str:
         # Convert endpoint format to mavlink-router format
         def convert_endpoint(endpoint: Endpoint) -> str:
@@ -63,7 +80,7 @@ def convert_endpoint(endpoint: Endpoint) -> str:
                 f"Master endpoint of type {master_endpoint.connection_type} not supported on MavlinkRouter."
             )
 
-        return f"{self.binary()} {convert_endpoint(master_endpoint)} {endpoints} -l {self.logdir()} -T {self.logdir()}"
+        return f"{self.binary()} {convert_endpoint(master_endpoint)} {endpoints} -l {self.logdir()} -T {self.logdir()} -c {self._write_configuration_file()}"
 
     @staticmethod
     def name() -> str:

core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py

@@ -2,7 +2,7 @@
 import subprocess
 from typing import Optional
 
-from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.AbstractRouter import AbstractRouter, TLogCondition
 from mavlink_proxy.Endpoint import Endpoint, EndpointType
 
 
@@ -37,7 +37,17 @@ def convert_endpoint(endpoint: Endpoint) -> str:
                 return f"zenoh:{endpoint.place}:{endpoint.argument}"
             raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
 
-        endpoints = " ".join([convert_endpoint(endpoint) for endpoint in [master_endpoint, *self.endpoints()]])
+        def convert_tlog_condition(tlog_condition: TLogCondition) -> str:
+            match tlog_condition:
+                case TLogCondition.Always:
+                    return "?when=always"
+                case TLogCondition.WhileArmed:
+                    return "?when=while_armed"
+
+        tlog_condition_arg = convert_tlog_condition(self.tlog_condition())
+        logging_endpoint = f"tlogwriter://{self.logdir()}{tlog_condition_arg}"
+        str_endpoints = [convert_endpoint(endpoint) for endpoint in [master_endpoint, *self.endpoints()]]
+        endpoints = " ".join([*str_endpoints, logging_endpoint])
 
         return f"{self.binary()} {endpoints}"
 

core/services/ardupilot_manager/mavlink_proxy/Manager.py

@@ -10,7 +10,7 @@
 import mavlink_proxy.MAVLinkServer
 import mavlink_proxy.MAVP2P
 import mavlink_proxy.MAVProxy
-from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.AbstractRouter import AbstractRouter, TLogCondition
 from mavlink_proxy.Endpoint import Endpoint
 from mavlink_proxy.exceptions import (
     EndpointAlreadyExists,
@@ -171,6 +171,12 @@ def router_name(self) -> str:
     def set_logdir(self, log_dir: pathlib.Path) -> None:
         self.tool.set_logdir(log_dir)
 
+    def tlog_condition(self) -> TLogCondition:
+        return self.tool.tlog_condition()
+
+    def set_tlog_condition(self, tlog_condtion: TLogCondition) -> None:
+        self.tool.set_tlog_condition(tlog_condtion)
+
     async def auto_restart_router(self) -> None:
         """Auto-restart Mavlink router process if it dies."""
         while True:

core/tools/mavlink_server/bootstrap.sh

@@ -3,7 +3,7 @@
 # Immediately exit on errors
 set -e
 
-VERSION="0.3.1"
+VERSION="0.3.2"
 PROJECT_NAME="mavlink-server"
 REPOSITORY_ORG="bluerobotics"
 REPOSITORY_NAME="$PROJECT_NAME"