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feat: add support for Rsga devices
Added functionality for Rsga devices in the Mavlink helper and devices service. This includes methods to get Rsga device by ID and observe changes on Rsga devices. Also updated the project to use the upgraded Mavlink version 3.10.0 and target framework net8.0.
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‎src/.run/Linux-arm64.run.xml

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@@ -1,6 +1,6 @@
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<component name="ProjectRunConfigurationManager">
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<configuration default="false" name="Linux-arm64" type="DotNetFolderPublish" factoryName="Publish to folder">
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<riderPublish configuration="Release" delete_existing_files="true" include_native_libs_for_self_extract="true" platform="Any CPU" produce_single_file="true" runtime="linux-arm64" self_contained="true" target_folder="$PROJECT_DIR$/../publish/linux-arm64/app" target_framework="net7.0" uuid_high="-6069974389149972757" uuid_low="-5498245974063364756" />
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<riderPublish configuration="Release" delete_existing_files="true" include_native_libs_for_self_extract="true" platform="Any CPU" produce_single_file="true" runtime="linux-arm64" self_contained="true" target_folder="$PROJECT_DIR$/../publish/linux-arm64/app" target_framework="net8.0" uuid_high="-6069974389149972757" uuid_low="-5498245974063364756" />
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<method v="2" />
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</configuration>
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</component>

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

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@@ -2,15 +2,15 @@
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<!-- https://learn.microsoft.com/en-us/dotnet/fundamentals/package-validation/diagnostic-ids -->
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<Suppressions xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema">
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<Suppression>
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<DiagnosticId>CP0002</DiagnosticId>
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<Target>M:Asv.Drones.Gui.Api.IMavlinkDevicesService.GetRfsaByFullId(System.UInt16)</Target>
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<DiagnosticId>CP0006</DiagnosticId>
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<Target>M:Asv.Drones.Gui.Api.IMavlinkDevicesService.GetRsgaByFullId(System.UInt16)</Target>
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<Left>lib/net8.0/Asv.Drones.Gui.Api.dll</Left>
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<Right>lib/net8.0/Asv.Drones.Gui.Api.dll</Right>
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<IsBaselineSuppression>true</IsBaselineSuppression>
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</Suppression>
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<Suppression>
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<DiagnosticId>CP0006</DiagnosticId>
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<Target>M:Asv.Drones.Gui.Api.IMavlinkDevicesService.GetRfsaByFullId(System.UInt16)</Target>
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<Target>P:Asv.Drones.Gui.Api.IMavlinkDevicesService.RsgaDevices</Target>
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<Left>lib/net8.0/Asv.Drones.Gui.Api.dll</Left>
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<Right>lib/net8.0/Asv.Drones.Gui.Api.dll</Right>
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<IsBaselineSuppression>true</IsBaselineSuppression>

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

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@@ -62,5 +62,8 @@ public interface IMavlinkDevicesService
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IAdsbClientDevice? GetAdsbVehicleByFullId(ushort id);
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IObservable<IChangeSet<IRfsaClientDevice, ushort>> RfsaDevices { get; }
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IRfsaClientDevice? GetRfsaByFullId(ushort id);
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IObservable<IChangeSet<IRsgaClientDevice, ushort>> RsgaDevices { get; }
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IRsgaClientDevice? GetRsgaByFullId(ushort id);
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}
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}

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

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@@ -55,6 +55,7 @@ public static MaterialIconKind GetIcon(DeviceClass type)
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DeviceClass.GbsRtk => MaterialIconKind.RouterWireless,
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DeviceClass.Adsb => MaterialIconKind.Radar,
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DeviceClass.Rfsa => MaterialIconKind.Waveform,
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DeviceClass.Rsga => MaterialIconKind.CellphoneWireless,
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_ => MaterialIconKind.HelpNetworkOutline,
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};
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}

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

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@@ -34,6 +34,7 @@ public class MavlinkDeviceServiceConfig
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public AdsbClientDeviceConfig Adsb { get; set; } = new();
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public bool WrapToV2ExtensionEnabled { get; set; } = true;
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public RfsaClientDeviceConfig Rfsa { get; set; } = new();
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public RfsaClientDeviceConfig Rsga { get; set; } = new();
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}
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[Export(typeof(IMavlinkDevicesService))]
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.Transform(CreateRfsaDevice)
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.DisposeMany()
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.RefCount();
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RsgaDevices = Devices
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.Filter(d => d.Type == (MavType)Mavlink.V2.AsvRsga.MavType.MavTypeAsvRsga)
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.Transform(CreateRsgaDevice)
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.DisposeMany()
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.RefCount();
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AllDevices = Vehicles.Transform(x => (IClientDevice)x)
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.MergeChangeSets(BaseStations.Transform(x => (IClientDevice)x))
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.MergeChangeSets(Payloads.Transform(x => (IClientDevice)x))
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.MergeChangeSets(RfsaDevices.Transform(x => (IClientDevice)x))
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.MergeChangeSets(RsgaDevices.Transform(x => (IClientDevice)x))
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.MergeChangeSets(AdsbDevices.Transform(x => (IClientDevice)x));
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#endregion
@@ -191,6 +198,18 @@ public MavlinkDevicesService(IConfiguration config, IPacketSequenceCalculator se
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#endregion
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}
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private IRsgaClientDevice CreateRsgaDevice(IMavlinkDevice device)
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{
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return new RsgaClientDevice(Router, new MavlinkClientIdentity
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{
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TargetSystemId = device.SystemId,
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TargetComponentId = device.ComponentId,
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SystemId = _systemId.Value,
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ComponentId = _componentId.Value,
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}, InternalGetConfig(c => c.Rsga), _sequenceCalculator, RxApp.MainThreadScheduler);
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}
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private IRfsaClientDevice CreateRfsaDevice(IMavlinkDevice device)
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{
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return new RfsaClientDevice(Router, new MavlinkClientIdentity
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using var autoDispose = RfsaDevices.BindToObservableList(out var list).Subscribe();
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return list.Items.FirstOrDefault(d => d.FullId == id);
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}
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public IObservable<IChangeSet<IRsgaClientDevice, ushort>> RsgaDevices { get; }
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public IRsgaClientDevice? GetRsgaByFullId(ushort id)
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{
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using var autoDispose = RsgaDevices.BindToObservableList(out var list).Subscribe();
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return list.Items.FirstOrDefault(d => ((IClientDevice)d).FullId == id);
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}
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private IVehicleClient? CreateVehicle(IMavlinkDevice device)
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{
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//if (device.Autopilot == MavAutopilot.MavAutopilotArdupilotmega)

‎src/Directory.Build.props

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@@ -1,13 +1,13 @@
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<Project>
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<PropertyGroup>
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<ProductVersion>1.0.0</ProductVersion>
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<ApiVersion>1.0.0</ApiVersion>
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<ApiPrevVersion>0.3.6</ApiPrevVersion>
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<ProductVersion>1.0.1</ProductVersion>
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<ApiVersion>1.0.1</ApiVersion>
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<ApiPrevVersion>1.0.0</ApiPrevVersion>
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<AvaloniaVersion>11.0.6</AvaloniaVersion>
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<AsvCommonVersion>2.0.2</AsvCommonVersion>
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<AsvAvaloniaToolkitVersion>1.0.1</AsvAvaloniaToolkitVersion>
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<AsvAvaloniaMapVersion>2.0.5</AsvAvaloniaMapVersion>
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<AsvMavlinkVersion>3.9.2</AsvMavlinkVersion>
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<AsvMavlinkVersion>3.10.0</AsvMavlinkVersion>
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<FluentAvaloniaUIVersion>2.0.5</FluentAvaloniaUIVersion>
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<ReactiveUIVersion>19.5.41</ReactiveUIVersion>
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<SystemReactiveVersion>6.0.0</SystemReactiveVersion>

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