From f4efb31cdec87e05cc2b821c17ce8d157470e3f9 Mon Sep 17 00:00:00 2001
From: Rafael Araujo Lehmkuhl <rafael.lehmkuhl93@gmail.com>
Date: Wed, 9 Mar 2022 17:29:54 -0300
Subject: [PATCH] core: ardupilot-manager: Allow to plug more than one serial
 board

This commit changes the way serial devices are detected.

Instead of relying on UDEV rules it uses `pyserial` to detect available serial devices.

With UDEV rules, we can only detect one at a given time. With those changes, the limitation no longer exists.

The validation rules (manufacturer and product name) are kept.
---
 .../flight_controller_detector/Detector.py    | 29 ++++++++++---------
 install/udev/100.autopilot.rules              |  3 --
 2 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/core/services/ardupilot_manager/flight_controller_detector/Detector.py b/core/services/ardupilot_manager/flight_controller_detector/Detector.py
index b11d09005e..55b844447e 100644
--- a/core/services/ardupilot_manager/flight_controller_detector/Detector.py
+++ b/core/services/ardupilot_manager/flight_controller_detector/Detector.py
@@ -2,7 +2,7 @@
 from typing import List, Optional
 
 from loguru import logger
-from serial.tools.list_ports_linux import comports
+from serial.tools.list_ports_linux import SysFS, comports
 from smbus2 import SMBus
 
 from typedefs import FlightController, Platform
@@ -53,6 +53,10 @@ def is_navigator_r5_connected() -> bool:
         logger.debug("No Navigator board detected.")
         return None
 
+    @staticmethod
+    def is_valid_serial_controller(port: SysFS) -> bool:
+        return port.manufacturer == "ArduPilot" or (port.manufacturer == "3D Robotics" and "PX4" in port.product)
+
     @staticmethod
     def detect_serial_flight_controllers() -> List[FlightController]:
         """Check if a Pixhawk1 or any other valid serial flight controller is connected.
@@ -60,19 +64,16 @@ def detect_serial_flight_controllers() -> List[FlightController]:
         Returns:
             List[FlightController]: List with connected serial flight controller.
         """
-        serial_path = "/dev/autopilot"
-        for port in comports(include_links=True):
-            if not port.device == serial_path:
-                continue
-            return [
-                FlightController(
-                    name=port.product or port.name,
-                    manufacturer=port.manufacturer,
-                    platform=Platform.Pixhawk1,
-                    path=serial_path,
-                )
-            ]
-        return []
+        return [
+            FlightController(
+                name=port.product or port.name,
+                manufacturer=port.manufacturer,
+                platform=Platform.Pixhawk1,
+                path=port.device,
+            )
+            for port in comports()
+            if Detector.is_valid_serial_controller(port)
+        ]
 
     @classmethod
     def detect(cls) -> List[FlightController]:
diff --git a/install/udev/100.autopilot.rules b/install/udev/100.autopilot.rules
index 3d682d2c8d..0120e670bb 100644
--- a/install/udev/100.autopilot.rules
+++ b/install/udev/100.autopilot.rules
@@ -1,6 +1,3 @@
-SUBSYSTEM=="tty", ATTRS{manufacturer}=="3D Robotics", ATTRS{product}=="PX4*", SYMLINK+="autopilot", ENV{ID_MM_DEVICE_IGNORE}="1", ENV{ID_MM_PORT_IGNORE}="1"
-SUBSYSTEM=="tty", ATTRS{manufacturer}=="ArduPilot", SYMLINK+="autopilot", ENV{ID_MM_DEVICE_IGNORE}="1", ENV{ID_MM_PORT_IGNORE}="1"
-
 # CP210X USB UART
 ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", ENV{ID_MM_DEVICE_IGNORE}="1", ENV{ID_MM_PORT_IGNORE}="1"