Create identified messages field in store, use it in pwmsetup

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

@@ -248,25 +248,38 @@ export default Vue.extend({
         }
       })
     },
+    vehicle_id(): number {
+      return autopilot_data.system_id
+    },
     is_armed(): boolean {
-      const heartbeat = mavlink_store_get(mavlink, 'HEARTBEAT.messageData.message') as Message.Heartbeat
-      return Boolean(heartbeat.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_SAFETY_ARMED)
+      const heartbeat = mavlink_store_get(
+        mavlink,
+        'HEARTBEAT.messageData.message',
+        this.vehicle_id,
+        1,
+      ) as Message.Heartbeat
+      return Boolean(heartbeat?.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_SAFETY_ARMED)
     },
     is_manual(): boolean {
-      const heartbeat = mavlink_store_get(mavlink, 'HEARTBEAT.messageData.message') as Message.Heartbeat
+      const heartbeat = mavlink_store_get(
+        mavlink,
+        'HEARTBEAT.messageData.message',
+        this.vehicle_id,
+        1,
+      ) as Message.Heartbeat
 
       // Legacy manual mode
-      if (!(heartbeat.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
-        return Boolean(heartbeat.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)
+      if (!(heartbeat?.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
+        return Boolean(heartbeat?.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)
       }
 
       if (this.is_rover) {
         const rover_custom_mode_manual = 0
-        return Boolean(heartbeat.custom_mode === rover_custom_mode_manual)
+        return Boolean(heartbeat?.custom_mode === rover_custom_mode_manual)
       }
       if (this.is_sub) {
         const sub_custom_mode_manual = 19
-        return Boolean(heartbeat.custom_mode === sub_custom_mode_manual)
+        return Boolean(heartbeat?.custom_mode === sub_custom_mode_manual)
       }
 
       return false

core/frontend/src/store/mavlink.ts

@@ -24,6 +24,7 @@ interface messsageRefreshRate {
 
 class MavlinkStore extends VuexModule {
   available_messages: Dictionary<MavlinkMessage> = {}
+  available_identified_messages: Dictionary<Dictionary<MavlinkMessage>> = {}
 
   message_listeners: Dictionary<Listener> = {}
 
@@ -64,6 +65,13 @@ class MavlinkStore extends VuexModule {
       // TODO: Check if this is the best possible way to update `available_messages`
       // Reference: https://github.com/bluerobotics/blueos-docker/pull/508#discussion_r718729077
       Vue.set(this.available_messages, message.messageName, message)
+      const header = message.messageData.header
+      const identifier = `${header.system_id}_${header.component_id}`
+      // make sure identifier exists
+      if (!(identifier in this.available_identified_messages)) {
+        Vue.set(this.available_identified_messages, identifier, {})
+      }
+      Vue.set(this.available_identified_messages[identifier], message.messageName, message)
     }
   }
 }

core/frontend/src/utils/mavlink.ts

@@ -1,5 +1,8 @@
 import { get } from 'lodash'
 
-export default function mavlink_store_get<T>(storage: T, path: string): unknown {
+export default function mavlink_store_get<T>(storage: T, path: string, system_id? :number, component_id?: number): unknown {
+  if (system_id !== undefined && component_id !== undefined) {
+    return get(storage, `available_identified_messages.${system_id}_${component_id}.${path}`)
+  }
   return get(storage, `available_messages.${path}`)
 }