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[backport/1.4] frontend: Discard tray MAVLink listeners on destroy #4068

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[backport/1.4] frontend: Discard tray MAVLink listeners on destroy #4068

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42 changes: 26 additions & 16 deletions core/frontend/src/components/health/GpsTrayMenu.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -78,9 +78,10 @@
</template>

<script lang="ts">
import Vue from 'vue'
import Vue, { markRaw } from 'vue'

import mavlink2rest from '@/libs/MAVLink2Rest'
import Listener from '@/libs/MAVLink2Rest/Listener'
import { GpsFixType } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
import {
GlobalPositionInt,
Expand All @@ -105,6 +106,7 @@ export default Vue.extend({
gps_detected: false,
global_position_int: undefined as undefined | GlobalPositionInt,
gps_raw_int: undefined as undefined | GpsRawInt,
listeners: [] as Listener[],
}
},
computed: {
Expand Down Expand Up @@ -266,25 +268,33 @@ export default Vue.extend({
},
},
mounted() {
mavlink2rest.startListening('GLOBAL_POSITION_INT').setCallback((message) => {
if (message?.header.system_id !== autopilot_data.system_id || message?.header.component_id !== 1) {
return
}
// markRaw: Listener → Endpoint.latestData must not be deep-observed per GPS frame.
this.listeners.push(
markRaw(mavlink2rest.startListening('GLOBAL_POSITION_INT').setCallback((message) => {
if (message?.header.system_id !== autopilot_data.system_id || message?.header.component_id !== 1) {
return
}

this.last_message_date = new Date()
this.global_position_int = message?.message as GlobalPositionInt
}).setFrequency(0)
this.last_message_date = new Date()
this.global_position_int = message?.message as GlobalPositionInt
}).setFrequency(0)),
)

const message_name = this.instance === 1 ? 'GPS_RAW_INT' : 'GPS2_RAW'
mavlink2rest.startListening(message_name).setCallback((message) => {
if (message?.header.system_id !== autopilot_data.system_id || message?.header.component_id !== 1) {
return
}
this.listeners.push(
markRaw(mavlink2rest.startListening(message_name).setCallback((message) => {
if (message?.header.system_id !== autopilot_data.system_id || message?.header.component_id !== 1) {
return
}

this.last_message_date = new Date()
this.gps_raw_int = message?.message as GpsRawInt | Gps2Raw
this.gps_detected = this.gps_raw_int?.fix_type?.type !== GpsFixType.GPS_FIX_TYPE_NO_GPS
}).setFrequency(0)
this.last_message_date = new Date()
this.gps_raw_int = message?.message as GpsRawInt | Gps2Raw
this.gps_detected = this.gps_raw_int?.fix_type?.type !== GpsFixType.GPS_FIX_TYPE_NO_GPS
}).setFrequency(0)),
)
},
beforeDestroy() {
this.listeners.forEach((listener) => listener.discard())
},
})
</script>
Expand Down
10 changes: 7 additions & 3 deletions core/frontend/src/components/health/HealthTrayMenu.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -134,9 +134,10 @@
</template>

<script lang="ts">
import Vue from 'vue'
import Vue, { markRaw } from 'vue'

import mavlink2rest from '@/libs/MAVLink2Rest'
import Listener from '@/libs/MAVLink2Rest/Listener'
import { MavModeFlag, MavType } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
import autopilot_data from '@/store/autopilot'
import mavlink from '@/store/mavlink'
Expand All @@ -153,6 +154,7 @@ export default Vue.extend({
return {
time_limit_heartbeat: 3000,
last_heartbeat_date: new Date(),
heartbeat_listener: undefined as Listener | undefined,
}
},
computed: {
Expand Down Expand Up @@ -211,18 +213,20 @@ export default Vue.extend({
},
mounted() {
system_information.subscribeSystemInformation(FETCH_TYPES)
mavlink2rest.startListening('HEARTBEAT').setCallback((message) => {
// markRaw: Listener → Endpoint.latestData must not be deep-observed per HEARTBEAT.
this.heartbeat_listener = markRaw(mavlink2rest.startListening('HEARTBEAT').setCallback((message) => {
if (!this.is_vehicle(message?.message.mavtype.type) || message?.header.component_id !== 1) {
return
}
autopilot_data.setSystemId(message?.header.system_id)
autopilot_data.setAutopilotType(message?.message.autopilot.type)
autopilot_data.setVehicleArmed(Boolean(message?.message.base_mode.bits & MavModeFlag.MAV_MODE_FLAG_SAFETY_ARMED))
this.last_heartbeat_date = new Date()
}).setFrequency(0)
}).setFrequency(0))
},
beforeDestroy() {
system_information.unsubscribeSystemInformation(FETCH_TYPES)
this.heartbeat_listener?.discard()
},
methods: {
heartbeat_age(): number {
Expand Down
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