feat(api-mavlink): update mavlink nuget;add RFSA device

Author: asvol

src/Asv.Drones.Gui.Api/CompatibilitySuppressions.xml

@@ -3,7 +3,14 @@
 <Suppressions xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema">
   <Suppression>
     <DiagnosticId>CP0006</DiagnosticId>
-    <Target>P:Asv.Drones.Gui.Api.ILocalizationService.Accuracy</Target>
+    <Target>M:Asv.Drones.Gui.Api.IMavlinkDevicesService.GetRfsaByFullId(System.UInt16)</Target>
+    <Left>lib/net8.0/Asv.Drones.Gui.Api.dll</Left>
+    <Right>lib/net8.0/Asv.Drones.Gui.Api.dll</Right>
+    <IsBaselineSuppression>true</IsBaselineSuppression>
+  </Suppression>
+  <Suppression>
+    <DiagnosticId>CP0006</DiagnosticId>
+    <Target>P:Asv.Drones.Gui.Api.IMavlinkDevicesService.RfsaDevices</Target>
     <Left>lib/net8.0/Asv.Drones.Gui.Api.dll</Left>
     <Right>lib/net8.0/Asv.Drones.Gui.Api.dll</Right>
     <IsBaselineSuppression>true</IsBaselineSuppression>

src/Asv.Drones.Gui.Api/Services/LogService/ILogService.cs

@@ -8,13 +8,13 @@ public interface ILogService
     void DeleteLogFile();
 
     public void Fatal(string sender, string message,
-        Exception ex = default)
+        Exception? ex = default)
     {
         SaveMessage(new LogMessage(DateTime.Now, LogMessageType.Fatal, sender, message, ex?.Message));
     }
 
     public void Error(string sender, string message,
-        Exception ex = default)
+        Exception? ex = default)
     {
         SaveMessage(new LogMessage(DateTime.Now, LogMessageType.Error, sender, message, ex?.Message));
     }

src/Asv.Drones.Gui.Api/Services/Mavlink/IMavlinkDevicesService.cs

@@ -54,12 +54,13 @@ public interface IMavlinkDevicesService
         /// <param name="id">Id of searched vehicle</param>
         /// <returns>Vehicle object</returns>
         IVehicleClient? GetVehicleByFullId(ushort id);
-
         IObservable<IChangeSet<IGbsClientDevice, ushort>> BaseStations { get; }
         IGbsClientDevice? GetGbsByFullId(ushort id);
         IObservable<IChangeSet<ISdrClientDevice, ushort>> Payloads { get; }
         ISdrClientDevice? GetPayloadsByFullId(ushort id);
         IObservable<IChangeSet<IAdsbClientDevice, ushort>> AdsbDevices { get; }
         IAdsbClientDevice? GetAdsbVehicleByFullId(ushort id);
+        IObservable<IChangeSet<IRfsaClientDevice, ushort>> RfsaDevices { get; }
+        IAdsbClientDevice? GetRfsaByFullId(ushort id);
     }
 }

src/Asv.Drones.Gui.Api/Tools/Controls/HierarchicalStore/HierarchicalStoreEntryViewModel.cs

@@ -78,7 +78,7 @@ public HierarchicalStoreEntryViewModel()
     [Reactive] public string Description { get; set; }
 
 
-    protected virtual void OnError(HierarchicalStoreEntryAction action, Exception exception)
+    protected virtual void OnError(HierarchicalStoreEntryAction action, Exception? exception)
     {
     }
 
@@ -161,7 +161,7 @@ public HierarchicalStoreEntryViewModel(Node<IHierarchicalStoreEntry<TKey>, TKey>
         ParentId = node.Item.ParentId;
     }
 
-    protected override void OnError(HierarchicalStoreEntryAction action, Exception ex)
+    protected override void OnError(HierarchicalStoreEntryAction action, Exception? ex)
     {
         base.OnError(action, ex);
         _log.Error("Store", $"Error to '{action}' entry", ex);

src/Asv.Drones.Gui.Api/Tools/Controls/HierarchicalStore/HierarchicalStoreViewModel.cs

@@ -172,7 +172,7 @@ protected virtual void CreateNewFolderImpl()
     {
     }
 
-    protected virtual void OnError(HierarchicalStoreAction action, Exception ex)
+    protected virtual void OnError(HierarchicalStoreAction action, Exception? ex)
     {
     }
 
@@ -236,7 +236,7 @@ public HierarchicalStoreViewModel(Uri id, IHierarchicalStore<TKey, TFile> store,
             .Subscribe(x => x?.Refresh()).DisposeItWith(Disposable);
     }
 
-    protected override void OnError(HierarchicalStoreAction action, Exception ex)
+    protected override void OnError(HierarchicalStoreAction action, Exception? ex)
     {
         _log.Error(DisplayName, $"Error to '{action:G}'", ex);
     }

src/Asv.Drones.Gui.Api/Tools/Controls/Params/ParamItemViewModel.cs

@@ -193,12 +193,12 @@ public ParamItemViewModel(Uri id, IParamItem paramItem, ILogService log) : base(
             .DisposeItWith(Disposable);
     }
 
-    private void OnWriteError(Exception ex)
+    private void OnWriteError(Exception? ex)
     {
         _log.Error("Params", $"Write {Name} error", ex);
     }
 
-    private void OnReadError(Exception ex)
+    private void OnReadError(Exception? ex)
     {
         _log.Error("Params", $"Read {Name} error", ex);
     }

src/Asv.Drones.Gui.Api/Tools/Controls/Params/ParamPageViewModel.cs

@@ -251,7 +251,7 @@ public override async Task<bool> TryClose()
         return true;
     }
 
-    private void OnRefreshError(Exception ex)
+    private void OnRefreshError(Exception? ex)
     {
         _log.Error("Params view", "Error to read all params items", ex);
     }

src/Asv.Drones.Gui.Api/Tools/Controls/TreePage/TreePageExplorerViewModel.cs

@@ -158,7 +158,7 @@ private async Task<bool> Navigate(TreePartMenuItemContainer? menu)
             menu.IsSelected = true;
             return true;
         }
-        catch (Exception e)
+        catch (Exception? e)
         {
             _log.Error(Title, $"Can't create page {menu.Base.Name}:{e.Message}", e);
             return false;

src/Asv.Drones.Gui/Services/Mavlink/MavlinkDevicesService.cs

@@ -33,6 +33,7 @@ public class MavlinkDeviceServiceConfig
         public SdrClientDeviceConfig Sdr { get; set; } = new();
         public AdsbClientDeviceConfig Adsb { get; set; } = new();
         public bool WrapToV2ExtensionEnabled { get; set; } = true;
+        public RfsaClientDeviceConfig Rfsa { get; set; } = new();
     }
 
     [Export(typeof(IMavlinkDevicesService))]
@@ -61,8 +62,8 @@ public MavlinkDevicesService(IConfiguration config, IPacketSequenceCalculator se
             _mavlinkRouter =
                 new MavlinkRouter(MavlinkV2Connection.RegisterDefaultDialects,
                     publishScheduler: RxApp.MainThreadScheduler).DisposeItWith(Disposable);
-            _mavlinkRouter.WrapToV2ExtensionEnabled = InternalGetConfig(_ => _.WrapToV2ExtensionEnabled);
-            foreach (var port in InternalGetConfig(_ => _.Ports))
+            _mavlinkRouter.WrapToV2ExtensionEnabled = InternalGetConfig(s => s.WrapToV2ExtensionEnabled);
+            foreach (var port in InternalGetConfig(s => s.Ports))
             {
                 _mavlinkRouter.AddPort(port);
             }
@@ -76,60 +77,60 @@ public MavlinkDevicesService(IConfiguration config, IPacketSequenceCalculator se
 
             #region InitUriHost mavlink heartbeat
 
-            var serverIdentity = InternalGetConfig(_ => new MavlinkIdentity(_.SystemId, _.ComponentId));
-            var serverConfig = InternalGetConfig(_ => new ServerDeviceConfig
-                { Heartbeat = new MavlinkHeartbeatServerConfig { HeartbeatRateMs = _.HeartbeatRateMs } });
+            var serverIdentity = InternalGetConfig(s => new MavlinkIdentity(s.SystemId, s.ComponentId));
+            var serverConfig = InternalGetConfig(s => new ServerDeviceConfig
+                { Heartbeat = new MavlinkHeartbeatServerConfig { HeartbeatRateMs = s.HeartbeatRateMs } });
             var serverDevice =
                 new ServerDevice(Router, sequenceCalculator, serverIdentity, serverConfig, Scheduler.Default)
                     .DisposeItWith(Disposable);
-            serverDevice.Heartbeat.Set(_ =>
+            serverDevice.Heartbeat.Set(p =>
             {
-                _.Autopilot = MavAutopilot.MavAutopilotInvalid;
-                _.BaseMode = 0;
-                _.CustomMode = 0;
-                _.MavlinkVersion = 3;
-                _.SystemStatus = MavState.MavStateActive;
-                _.Type = MavType.MavTypeGcs;
+                p.Autopilot = MavAutopilot.MavAutopilotInvalid;
+                p.BaseMode = 0;
+                p.CustomMode = 0;
+                p.MavlinkVersion = 3;
+                p.SystemStatus = MavState.MavStateActive;
+                p.Type = MavType.MavTypeGcs;
             });
             _systemId = new RxValue<byte>(serverIdentity.SystemId).DisposeItWith(Disposable);
             _systemId
                 .Throttle(TimeSpan.FromSeconds(1))
                 .DistinctUntilChanged()
                 .Skip(1)
                 .Do(_ => _needReloadToApplyConfig.Value = true)
-                .Subscribe(_ => InternalSaveConfig(cfg => cfg.SystemId = _))
+                .Subscribe(b => InternalSaveConfig(cfg => cfg.SystemId = b))
                 .DisposeItWith(Disposable);
             _componentId = new RxValue<byte>(serverIdentity.ComponentId).DisposeItWith(Disposable);
             _componentId
                 .Throttle(TimeSpan.FromSeconds(1))
                 .DistinctUntilChanged()
                 .Skip(1)
                 .Do(_ => _needReloadToApplyConfig.Value = true)
-                .Subscribe(_ => InternalSaveConfig(cfg => cfg.ComponentId = _))
+                .Subscribe(b => InternalSaveConfig(cfg => cfg.ComponentId = b))
                 .DisposeItWith(Disposable);
-            var heartbeatRateMs = InternalGetConfig(_ => TimeSpan.FromMilliseconds(_.HeartbeatRateMs));
+            var heartbeatRateMs = InternalGetConfig(s => TimeSpan.FromMilliseconds(s.HeartbeatRateMs));
             _heartBeatRate = new RxValue<TimeSpan>(heartbeatRateMs).DisposeItWith(Disposable);
             _heartBeatRate
                 .Throttle(TimeSpan.FromSeconds(1))
                 .DistinctUntilChanged()
                 .Skip(1)
                 .Do(_ => _needReloadToApplyConfig.Value = true)
-                .Subscribe(_ => { InternalSaveConfig(cfg => cfg.HeartbeatRateMs = (int)_.TotalMilliseconds); })
+                .Subscribe(s => { InternalSaveConfig(cfg => cfg.HeartbeatRateMs = (int)s.TotalMilliseconds); })
                 .DisposeItWith(Disposable);
             serverDevice.Heartbeat.Start();
 
             #endregion
 
             #region Mavlink devices
 
-            var deviceTimeout = InternalGetConfig(_ => TimeSpan.FromMilliseconds(_.DeviceHeartbeatTimeoutMs));
+            var deviceTimeout = InternalGetConfig(s => TimeSpan.FromMilliseconds(s.DeviceHeartbeatTimeoutMs));
             _deviceBrowser = new MavlinkDeviceBrowser(_mavlinkRouter, deviceTimeout, RxApp.MainThreadScheduler)
                 .DisposeItWith(Disposable);
             _deviceBrowser.DeviceTimeout
                 .Throttle(TimeSpan.FromSeconds(1))
                 .DistinctUntilChanged()
                 .Skip(1)
-                .Subscribe(_ => InternalSaveConfig(cfg => cfg.DeviceHeartbeatTimeoutMs = (int)_.TotalMilliseconds))
+                .Subscribe(s => InternalSaveConfig(cfg => cfg.DeviceHeartbeatTimeoutMs = (int)s.TotalMilliseconds))
                 .DisposeItWith(Disposable);
 
             #endregion
@@ -138,25 +139,30 @@ public MavlinkDevicesService(IConfiguration config, IPacketSequenceCalculator se
 
             Vehicles = Devices
                 .Transform(CreateVehicle)
-                .Filter(_ => _ != null)
+                .Filter(c => c != null)
                 .DisposeMany()
                 .RefCount();
 
             BaseStations = Devices
-                .Filter(_ => _.Type == (MavType)Mavlink.V2.AsvGbs.MavType.MavTypeAsvGbs)
+                .Filter(d => d.Type == (MavType)Mavlink.V2.AsvGbs.MavType.MavTypeAsvGbs)
                 .Transform(CreateBaseStation)
                 .DisposeMany()
                 .RefCount();
             Payloads = Devices
-                .Filter(_ => _.Type == (MavType)Mavlink.V2.AsvSdr.MavType.MavTypeAsvSdrPayload)
+                .Filter(d => d.Type == (MavType)Mavlink.V2.AsvSdr.MavType.MavTypeAsvSdrPayload)
                 .Transform(CreateSdrDevice)
                 .DisposeMany()
                 .RefCount();
             AdsbDevices = Devices
-                .Filter(_ => _.Type == MavType.MavTypeAdsb)
+                .Filter(d => d.Type == MavType.MavTypeAdsb)
                 .Transform(CreateAdsbDevice)
                 .DisposeMany()
                 .RefCount();
+            RfsaDevices = Devices
+                .Filter(d => d.Type == (MavType)Mavlink.V2.AsvRfsa.MavType.MavTypeAsvRfsa)
+                .Transform(CreateRfsaDevice)
+                .DisposeMany()
+                .RefCount();
 
             AllDevices = Vehicles.Transform(x => (IClientDevice)x)
                 .MergeChangeSets(BaseStations.Transform(x => (IClientDevice)x))
@@ -171,9 +177,9 @@ public MavlinkDevicesService(IConfiguration config, IPacketSequenceCalculator se
                 .Merge(BaseStations.Transform(x => (IClientDevice)x))
                 .Merge(Payloads.Transform(x => (IClientDevice)x))
                 .Merge(AdsbDevices.Transform(x => (IClientDevice)x))
-                .AutoRefreshOnObservable(_ => _.Name)
-                .Filter(_ => _.Name.Value != null)
-                .Transform(_ => _.Name.Value, true)
+                .AutoRefreshOnObservable(d => d.Name)
+                .Filter(d => d.Name.Value != null)
+                .Transform(d => d.Name.Value, true)
                 .AsObservableCache().DisposeItWith(Disposable);
             _mavlinkRouter
                 .Filter<StatustextPacket>()
@@ -184,6 +190,17 @@ public MavlinkDevicesService(IConfiguration config, IPacketSequenceCalculator se
             #endregion
         }
 
+        private IRfsaClientDevice CreateRfsaDevice(IMavlinkDevice device)
+        {
+            return new RfsaClientDevice(Router, new MavlinkClientIdentity
+            {
+                TargetSystemId = device.SystemId,
+                TargetComponentId = device.ComponentId,
+                SystemId = _systemId.Value,
+                ComponentId = _componentId.Value,
+            }, InternalGetConfig(c => c.Rfsa), _sequenceCalculator, RxApp.MainThreadScheduler);
+        }
+
         private ISdrClientDevice CreateSdrDevice(IMavlinkDevice device)
         {
             var dev = new SdrClientDevice(Router, new MavlinkClientIdentity
@@ -192,7 +209,7 @@ private ISdrClientDevice CreateSdrDevice(IMavlinkDevice device)
                 TargetComponentId = device.ComponentId,
                 SystemId = _systemId.Value,
                 ComponentId = _componentId.Value,
-            }, InternalGetConfig(_ => _.Sdr), _sequenceCalculator, RxApp.MainThreadScheduler);
+            }, InternalGetConfig(c => c.Sdr), _sequenceCalculator, RxApp.MainThreadScheduler);
             ((ParamsClientEx)dev.Params).Init(new MavParamByteWiseEncoding(), ArraySegment<ParamDescription>.Empty);
             return dev;
         }
@@ -205,7 +222,7 @@ private IGbsClientDevice CreateBaseStation(IMavlinkDevice device)
                 TargetComponentId = device.ComponentId,
                 SystemId = _systemId.Value,
                 ComponentId = _componentId.Value,
-            }, _sequenceCalculator, InternalGetConfig(_ => _.Gbs));
+            }, _sequenceCalculator, InternalGetConfig(c => c.Gbs));
         }
 
         private IAdsbClientDevice CreateAdsbDevice(IMavlinkDevice device)
@@ -216,7 +233,7 @@ private IAdsbClientDevice CreateAdsbDevice(IMavlinkDevice device)
                 TargetComponentId = device.ComponentId,
                 SystemId = _systemId.Value,
                 ComponentId = _componentId.Value,
-            }, _sequenceCalculator, InternalGetConfig(_ => _.Adsb));
+            }, _sequenceCalculator, InternalGetConfig(c => c.Adsb));
         }
 
         #region Logs
@@ -271,32 +288,39 @@ private string TryGetName(StatustextPacket pkt)
 
         public IVehicleClient? GetVehicleByFullId(ushort id)
         {
-            using var a = Vehicles.BindToObservableList(out var list).Subscribe();
-            return list.Items.FirstOrDefault(_ => _.Heartbeat.FullId == id);
+            using var autoDispose = Vehicles.BindToObservableList(out var list).Subscribe();
+            return list.Items.FirstOrDefault(c => c.Heartbeat.FullId == id);
         }
 
         public IObservable<IChangeSet<IGbsClientDevice, ushort>> BaseStations { get; }
 
         public IGbsClientDevice? GetGbsByFullId(ushort id)
         {
-            BaseStations.BindToObservableList(out var list).Subscribe();
-            return list.Items.FirstOrDefault(_ => _.Heartbeat.FullId == id);
+            using var autoDispose = BaseStations.BindToObservableList(out var list).Subscribe();
+            return list.Items.FirstOrDefault(d => d.Heartbeat.FullId == id);
         }
 
         public IObservable<IChangeSet<ISdrClientDevice, ushort>> Payloads { get; }
 
         public ISdrClientDevice? GetPayloadsByFullId(ushort id)
         {
-            using var a = Payloads.BindToObservableList(out var list).Subscribe();
-            return list.Items.FirstOrDefault(_ => _.Heartbeat.FullId == id);
+            using var autoDispose = Payloads.BindToObservableList(out var list).Subscribe();
+            return list.Items.FirstOrDefault(d => d.Heartbeat.FullId == id);
         }
 
         public IObservable<IChangeSet<IAdsbClientDevice, ushort>> AdsbDevices { get; }
 
         public IAdsbClientDevice? GetAdsbVehicleByFullId(ushort id)
         {
-            AdsbDevices.BindToObservableList(out var list).Subscribe();
-            return list.Items.FirstOrDefault(_ => _.FullId == id);
+            using var autoDispose =AdsbDevices.BindToObservableList(out var list).Subscribe();
+            return list.Items.FirstOrDefault(d => d.FullId == id);
+        }
+
+        public IObservable<IChangeSet<IRfsaClientDevice, ushort>> RfsaDevices { get; }
+        public IAdsbClientDevice? GetRfsaByFullId(ushort id)
+        {
+            using var autoDispose =AdsbDevices.BindToObservableList(out var list).Subscribe();
+            return list.Items.FirstOrDefault(d => d.FullId == id);
         }
 
         private IVehicleClient? CreateVehicle(IMavlinkDevice device)
@@ -314,15 +338,15 @@ private string TryGetName(StatustextPacket pkt)
                             TargetComponentId = device.ComponentId,
                             SystemId = _systemId.Value,
                             ComponentId = _componentId.Value,
-                        }, InternalGetConfig(_ => _.Vehicle), _sequenceCalculator, RxApp.TaskpoolScheduler);
+                        }, InternalGetConfig(c => c.Vehicle), _sequenceCalculator, RxApp.TaskpoolScheduler);
                     case MavType.MavTypeFixedWing:
                         return new ArduPlaneClient(Router, new MavlinkClientIdentity
                         {
                             TargetSystemId = device.SystemId,
                             TargetComponentId = device.ComponentId,
                             SystemId = _systemId.Value,
                             ComponentId = _componentId.Value,
-                        }, InternalGetConfig(_ => _.Vehicle), _sequenceCalculator, RxApp.TaskpoolScheduler);
+                        }, InternalGetConfig(c => c.Vehicle), _sequenceCalculator, RxApp.TaskpoolScheduler);
                     default:
                         return null;
                 }

src/Asv.Drones.Gui/Shell/Pages/Flight/Anchors/Uav/Actions/TakeOff/UavActionTakeOff.cs

@@ -33,7 +33,7 @@ public UavActionTakeOff(IVehicleClient vehicle, IMap map, ILogService log, IConf
             Command = cmd;
         }
 
-        private void OnCommandError(Exception ex)
+        private void OnCommandError(Exception? ex)
         {
             _log.Error("Arm", string.Format(RS.TakeOffAnchorActionViewModel_OnCommandError, Vehicle.Name.Value),
                 ex); // DONE: Localize