creating "safe mode"

core/frontend/src/App.vue

@@ -36,6 +36,19 @@
           color="white"
           @click="drawer = true"
         />
+        <v-card
+          v-if="!safe_mode"
+          v-tooltip="'Some functionality is not available while the vehicle is armed'"
+          class="d-flex align-center warning justify-center mr-5"
+          height="40"
+        >
+          <v-icon class="ml-3">
+            mdi-alert-outline
+          </v-icon>
+          <v-card-title>
+            Armed
+          </v-card-title>
+        </v-card>
         <draggable v-model="selected_widgets" class="d-flex align-center justify-center">
           <component
             :is="getWidget(widget_name)"
@@ -387,6 +400,7 @@ import NotificationTrayButton from './components/notifications/TrayButton.vue'
 import WifiTrayMenu from './components/wifi/WifiTrayMenu.vue'
 import WifiUpdater from './components/wifi/WifiUpdater.vue'
 import menus, { menuItem } from './menus'
+import autopilot_data from './store/autopilot'
 import Cpu from './widgets/Cpu.vue'
 import Disk from './widgets/Disk.vue'
 
@@ -458,6 +472,9 @@ export default Vue.extend({
     app_bar_style(): string {
       return settings.is_dark_theme ? 'dark-background-glass' : 'light-background-glass'
     },
+    safe_mode(): boolean {
+      return autopilot_data.is_safe
+    },
     wifi_connected(): boolean {
       return wifi.current_network != null
     },

core/frontend/src/components/common/NotSafeOverlay.vue

@@ -0,0 +1,43 @@
+<template>
+  <v-overlay
+    v-if="!is_safe"
+    :absolute="true"
+    :opacity="0.85"
+  >
+    <div class="d-flex flex-column justify-center align-center">
+      <p class="text-center">
+        This feature is disabled because the vehicle is armed.
+      </p>
+      <v-btn
+        class="ml-auto mr-auto"
+        color="warning"
+        @click="override()"
+      >
+        I know what I'm doing, let me through
+      </v-btn>
+    </div>
+  </v-overlay>
+</template>
+
+<script lang="ts">
+import autopilot_data from '@/store/autopilot'
+
+export default {
+  name: 'NotSafeOverlay',
+  data() {
+    return {
+      user_override: false,
+    }
+  },
+  computed: {
+    is_safe(): boolean {
+      return autopilot_data.is_safe || this.user_override
+    },
+  },
+  methods: {
+    override() {
+      this.user_override = true
+    },
+  },
+}
+</script>

core/frontend/src/components/health/HealthTrayMenu.vue

@@ -137,7 +137,7 @@
 import Vue from 'vue'
 
 import mavlink2rest from '@/libs/MAVLink2Rest'
-import { MavType } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
+import { MavModeFlag, MavType } from '@/libs/MAVLink2Rest/mavlink2rest-ts/messages/mavlink2rest-enum'
 import autopilot_data from '@/store/autopilot'
 import mavlink from '@/store/mavlink'
 import system_information from '@/store/system-information'
@@ -212,6 +212,7 @@ export default Vue.extend({
       }
       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)
   },

core/frontend/src/store/autopilot.ts

@@ -36,6 +36,8 @@ class AutopilotStore extends VuexModule {
 
   system_id = 1
 
+  verhicle_armed = false
+
   get parameter() {
     return (name: string): Parameter | undefined => this.parameters.find((parameter) => parameter.name === name)
   }
@@ -53,6 +55,11 @@ class AutopilotStore extends VuexModule {
     )
   }
 
+  get is_safe() {
+    // We can potentially check for external things here
+    return !this.verhicle_armed
+  }
+
   @Mutation
   reset(): void {
     this.parameters = []
@@ -100,6 +107,11 @@ class AutopilotStore extends VuexModule {
     this.parameters_total = count
     this.finished_loading = this.parameters_loaded >= this.parameters_total && this.metadata_loaded
   }
+
+  @Mutation
+  setVehicleArmed(armed: boolean): void {
+    this.verhicle_armed = armed
+  }
 }
 
 export { AutopilotStore }

core/frontend/src/views/Autopilot.vue

@@ -28,6 +28,7 @@
           </v-row>
           <br>
         </div>
+        <not-safe-overlay />
         <v-expansion-panels>
           <v-expansion-panel>
             <v-expansion-panel-header>
@@ -129,6 +130,7 @@ export default Vue.extend({
     BoardChangeDialog,
     FirmwareManager,
     AutopilotSerialConfiguration,
+    NotSafeOverlay,
   },
   data() {
     return {

core/frontend/src/views/ExtensionManagerView.vue

@@ -1,5 +1,6 @@
 <template>
   <v-container fluid>
+    <not-safe-overlay />
     <pull-progress
       :progress="pull_output"
       :show="show_pull_output"

core/frontend/src/views/NetworkTestView.vue

@@ -2,6 +2,7 @@
   <v-card
     height="100%"
   >
+    <not-safe-overlay />
     <v-tabs
       v-model="page_selected"
       centered
@@ -46,6 +47,7 @@ export default Vue.extend({
   components: {
     InternetSpeedTest,
     NetworkSpeedTest,
+    NotSafeOverlay,
   },
   data() {
     return {

core/frontend/src/views/VersionChooser.vue

@@ -1,5 +1,6 @@
 <template>
   <v-container>
+    <not-safe-overlay />
     <version-chooser />
   </v-container>
 </template>
@@ -13,6 +14,7 @@ export default Vue.extend({
   name: 'VersionChooserView',
   components: {
     VersionChooser,
+    NotSafeOverlay,
   },
 })
 </script>

core/libs/commonwealth/commonwealth/mavlink_comm/VehicleManager.py

@@ -132,3 +132,9 @@ async def disarm_vehicle(self) -> None:
         await self.mavlink2rest.send_mavlink_message(disarm_message)
         if await self.is_vehicle_armed():
             raise VehicleDisarmFail("Failed to disarm vehicle. Please try a manual disarm.")
+
+    async def vehicle_is_safe(self) -> bool:
+        """Check if vehicle is safe to arm.
+        This might eventually be enhanced to check for other conditions.
+        """
+        return not await self.is_vehicle_armed()

core/services/ardupilot_manager/main.py

@@ -290,6 +290,16 @@ async def available_boards() -> Any:
     return await autopilot.available_boards(True)
 
 
+@app.get("/safe")
+@version(1, 0)
+async def safe() -> bool:
+    """
+    Checks if the vehicle is in a condition where it is safe to perform dangerous operations on it,
+    Such as firmware flashing, parameter loading, rebooting, networking changes, etc.
+    """
+    return bool(autopilot.vehicle_manager.vehicle_is_safe())
+
+
 app = VersionedFastAPI(app, version="1.0.0", prefix_format="/v{major}.{minor}", enable_latest=True)