From e61b6023fbf5d992d4c13c3ce1381f1014b707f4 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Thu, 26 Sep 2024 12:28:30 -0300
Subject: [PATCH] ArdupilotManager: add navigator64 support

---
 core/services/ardupilot_manager/ArduPilotManager.py |  5 +++++
 .../ardupilot_manager/firmware/FirmwareInstall.py   |  5 +++++
 .../flight_controller_detector/linux/navigator.py   | 13 ++++++++++---
 core/services/ardupilot_manager/setup.py            |  5 +++++
 core/services/ardupilot_manager/typedefs.py         |  2 ++
 5 files changed, 27 insertions(+), 3 deletions(-)

diff --git a/core/services/ardupilot_manager/ArduPilotManager.py b/core/services/ardupilot_manager/ArduPilotManager.py
index 7ad40dbf06..82dd82d2e7 100644
--- a/core/services/ardupilot_manager/ArduPilotManager.py
+++ b/core/services/ardupilot_manager/ArduPilotManager.py
@@ -187,6 +187,11 @@ async def start_linux_board(self, board: LinuxFlightController) -> None:
                     pathlib.Path("/root/blueos-files/ardupilot-manager/default/ardupilot_navigator"),
                     board,
                 )
+            elif board.platform == Platform.Navigator64:
+                self.firmware_manager.install_firmware_from_file(
+                    pathlib.Path("/root/blueos-files/ardupilot-manager/default/ardupilot_navigator64"),
+                    board,
+                )
             else:
                 raise NoDefaultFirmwareAvailable(
                     f"No firmware installed for '{board.platform}' and no default firmware available. Please install the firmware manually."
diff --git a/core/services/ardupilot_manager/firmware/FirmwareInstall.py b/core/services/ardupilot_manager/firmware/FirmwareInstall.py
index b14e7b4738..f51c897ce0 100644
--- a/core/services/ardupilot_manager/firmware/FirmwareInstall.py
+++ b/core/services/ardupilot_manager/firmware/FirmwareInstall.py
@@ -8,6 +8,7 @@
 
 from ardupilot_fw_decoder import BoardSubType, BoardType, Decoder
 from elftools.elf.elffile import ELFFile
+from loguru import logger
 
 from exceptions import FirmwareInstallFail, InvalidFirmwareFile, UnsupportedPlatform
 from firmware.FirmwareDownload import FirmwareDownloader
@@ -43,6 +44,7 @@ def get_correspondent_decoder_platform(current_platform: Platform) -> Union[Boar
         Platform.SITL: BoardType.SITL,
         Platform.Navigator: BoardSubType.LINUX_NAVIGATOR,
         Platform.Argonot: BoardSubType.LINUX_NAVIGATOR,
+        Platform.Navigator64: BoardSubType.LINUX_NAVIGATOR,
     }
     return correspondent_decoder_platform.get(current_platform, BoardType.EMPTY)
 
@@ -97,6 +99,9 @@ def _validate_elf(firmware_path: pathlib.Path, platform: Platform) -> None:
             firm_board = BoardType(firm_decoder.fwversion.board_type)
             firm_sub_board = BoardSubType(firm_decoder.fwversion.board_subtype)
             current_decoder_platform = get_correspondent_decoder_platform(platform)
+            logger.debug(
+                f"firm_board: {firm_board}, firm_sub_board: {firm_sub_board}, current_decoder_platform: {current_decoder_platform}"
+            )
             if current_decoder_platform not in [firm_board, firm_sub_board]:
                 raise InvalidFirmwareFile(
                     (
diff --git a/core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py b/core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py
index 0ebf9da4e4..01ca871bea 100644
--- a/core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py
+++ b/core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py
@@ -1,4 +1,5 @@
-from typing import List
+import platform
+from typing import Any, List
 
 from commonwealth.utils.commands import load_file
 
@@ -7,9 +8,15 @@
 
 
 class Navigator(LinuxFlightController):
-    name = "Navigator"
     manufacturer = "Blue Robotics"
-    platform = Platform.Navigator
+
+    def __init__(self, **data: Any) -> None:
+        name = "Navigator"
+        plat = Platform.Navigator
+        if platform.machine() == "aarch64":
+            name = "Navigator64"
+            plat = Platform.Navigator64
+        super().__init__(**data, name=name, platform=plat)
 
     def is_pi5(self) -> bool:
         with open("/proc/cpuinfo", "r", encoding="utf-8") as f:
diff --git a/core/services/ardupilot_manager/setup.py b/core/services/ardupilot_manager/setup.py
index d4ebcb7b08..8ca21822c4 100644
--- a/core/services/ardupilot_manager/setup.py
+++ b/core/services/ardupilot_manager/setup.py
@@ -26,6 +26,11 @@
         "ardupilot_navigator",
         "https://firmware.ardupilot.org/Sub/stable-4.1.2/navigator/ardusub",
     ),
+    StaticFile(
+        defaults_folder,
+        "ardupilot_navigator",
+        "https://firmware.ardupilot.org/Sub/latest/navigator64/ardusub",
+    ),
     StaticFile(defaults_folder, "ardupilot_pixhawk1", "https://firmware.ardupilot.org/Sub/latest/Pixhawk1/ardusub.apj"),
     StaticFile(defaults_folder, "ardupilot_pixhawk4", "https://firmware.ardupilot.org/Sub/latest/Pixhawk4/ardusub.apj"),
 ]
diff --git a/core/services/ardupilot_manager/typedefs.py b/core/services/ardupilot_manager/typedefs.py
index 27239ef2f0..d6ac002e91 100644
--- a/core/services/ardupilot_manager/typedefs.py
+++ b/core/services/ardupilot_manager/typedefs.py
@@ -110,6 +110,7 @@ class Platform(str, Enum):
     CubeOrange = "CubeOrange"
     GenericSerial = "GenericSerial"
     Navigator = "navigator"
+    Navigator64 = "navigator64"
     Argonot = "argonot"
     SITL = get_sitl_platform_name(machine())
 
@@ -123,6 +124,7 @@ def type(self) -> PlatformType:
             Platform.CubeOrange: PlatformType.Serial,
             Platform.GenericSerial: PlatformType.Serial,
             Platform.Navigator: PlatformType.Linux,
+            Platform.Navigator64: PlatformType.Linux,
             Platform.Argonot: PlatformType.Linux,
             Platform.SITL: PlatformType.SITL,
         }