Geofence: Add vehicle sync and plan types

[ArturoManzoli]

• Add geofence plan and plan-file types (inclusion/exclusion polygons, circle fences, breach return point) plus the Cockpit .cfp and MAVLink .plan envelopes and their type guards.
• Add MAVLink geofence conversion helpers between Cockpit's GeoFencePlan and the MissionItemInt array format.
• Track the autopilot capability bitmask from AUTOPILOT_VERSION on the MAVLink vehicle.
• Add generic parameter-request helpers to the MAVLink vehicle.
• Add fence upload, fetch and clear over the geofence mission micro-service, including the ArduPilot polygon fence-type bit handling.
• Expose the autopilot capabilities and the fence helpers (uploadFence, fetchFence, clearFence, requestParameter) on the main-vehicle store.
• Add the geoFence Pinia store: editor draft state, persistence under cockpit- keys, vehicle sync, visibility-gated FENCE_ENABLE enforcement polling, and mission-vs-fence breach detection.

First of three sequential PRs splitting #2671 — the follow-ups land on top of this one:

• geofence-planning-editor — Mission/GeoFence sidebar switch, polygon and circle drawing, inclusion/exclusion tagging, breach return point, parameter panel, vehicle send/fetch/clear, .cfp/.plan import-export, and the pre-upload breach check.
• geofence-map-overlay — live fence overlay and enforcement toggle on the Map widget.

[github-actions]

Automated PR Review (Claude)

0. Summary

Verdict: MINOR SUGGESTIONS

Minor items to consider: 1.1, 1.2, 1.3, 4.1, 6.1, 6.2

This PR adds the foundational types, MAVLink conversion helpers, vehicle-level fence upload/fetch/clear, autopilot capability tracking, parameter request helpers, and a comprehensive geoFence Pinia store (editor draft state, persistence, vehicle sync, FENCE_ENABLE polling, breach detection). It is the first of three PRs splitting #2671. The code is generally well-structured, well-documented, and follows existing patterns.

1. Correctness & Implementation Bugs

1.1 minor — clearFence is fire-and-forget without ACK confirmation.
src/libs/vehicle/mavlink/vehicle.ts (new clearFence method): The method sends MISSION_CLEAR_ALL but does not wait for a MISSION_ACK from the vehicle. Both uploadFence and fetchFence go through the full micro-service handshake, but clearFence is asymmetric. If the vehicle NAKs or the message is lost, the caller has no way to know. Consider awaiting the ACK the same way the upload/download flows do, or at minimum documenting the limitation.

1.2 minor — _fetchMissionItems shares the _messages cache across concurrent calls.
src/libs/vehicle/mavlink/vehicle.ts: The refactored _fetchMissionItems reads from this._messages.get(MAVLinkType.MISSION_COUNT) and this._messages.get(MAVLinkType.MISSION_ITEM_INT), which are shared across all mission types. If a regular-mission download and a fence download were ever initiated concurrently (or near-concurrently), MISSION_COUNT and MISSION_ITEM_INT replies from one could be consumed by the other. In practice this is unlikely today since callers are sequential, but worth noting as a design constraint; a comment would help future maintainers.

1.3 minor — requestParameterValue listener is never cleaned up on scope dispose.
src/libs/vehicle/mavlink/vehicle.ts (new method around line 918 in the diff): The slot callback is added to this.onParameter and is removed either on match or on timeout, which is correct for the happy path. However, if the Promise is never awaited (e.g. the caller is GC'd) and neither the match nor the timeout fires (extremely unlikely but theoretically possible with weird timer edge cases), the slot would leak. This is low-risk but worth a defensive comment.

2. AGENTS.md Adherence — ✅

3. Security — ✅

4. Performance

4.1 minor — FENCE_ENABLE polling with setInterval at 3 s.
src/stores/geoFence.ts (~line 340 in the diff): Polling FENCE_ENABLE every 3 seconds generates continuous MAVLink traffic. The implementation correctly gates on isArduPilot, lastUploadedPlan, isVehicleOnline, and document visibility, which is good. However, once the fence is uploaded this runs indefinitely. Consider increasing the interval (e.g. 5–10 s) since the enforcement state rarely changes mid-flight, or pausing when the mission-planning view is not active.

5. UI / UX — ✅

6. Code Quality & Style

6.1 nit — Redundant console.warn paired with capability-request failure.
src/libs/vehicle/mavlink/vehicle.ts (diff lines 263–264): Two consecutive console.warn calls — one for the message and one for the error object. Per AGENTS.md, snackbar/log calls shouldn't be duplicated. While this isn't an openSnackbar case, the double-warn could be collapsed into a single console.warn('Failed to request autopilot capabilities. Capability gating will fall back to optimistic mode.', error).

6.2 nit — setFenceEnabled and setFenceAutoEnable are declared async but contain no await.
src/stores/geoFence.ts: Both functions are marked async and return Promise<void>, but their bodies are synchronous (v.setParameter(...) is void, not a promise). The async keyword is technically harmless but misleading — callers may think these await a vehicle ACK. Either remove async (returning void) or add a comment explaining the intent (e.g. future ACK waiting).

7. Commit Hygiene — ✅

8. Tests — ✅

9. Documentation — ✅

10. Nitpicks / Optional

10.1 nit — EARTH_RADIUS_M is defined locally in geoFence.ts but @turf/turf (already imported) provides turf.earthRadius which equals the same value. Using turf's constant would avoid the local redefinition.

10.2 nit — haversine-distance is listed in package.json dependencies and is used elsewhere in the codebase for distance calculations. The new distanceMeters helper in the geo-fence store uses turf.distance instead, which is fine (turf is also already a dependency), but it's worth noting the inconsistency for future consolidation.

10.3 nit — The re-export of CockpitMission at the bottom of src/types/geofence.ts (export type { CockpitMission }) is unused in this PR and may introduce a confusing dependency direction (geofence types re-exporting mission types). Consider removing it until actually needed.

Generated by Claude. This is advisory; a human reviewer must still approve.

[ArturoManzoli]

/review

[github-actions]

Automated PR Re-review 2 (Claude)

Comparing fba258a4a9d8a4f66bcea4e5b89b8d63cf9534b1 → 8ff9d6b19f54de8d38498cb8bb9e9b282a3575ee

Previous findings status

#	Finding	Severity	Status
1.1	clearFence fire-and-forget without ACK	minor	✅ Addressed — clearFence now polls for MISSION_ACK with a timeout loop, throwing on NAK or timeout.
1.2	_fetchMissionItems shares _messages cache across concurrent calls	minor	✅ Addressed — the JSDoc on _fetchMissionItems now documents the serialization constraint explicitly.
1.3	requestParameterValue listener cleanup edge case	minor	✅ Addressed — a comment now explains the slot lifetime is bounded by the timeout.
4.1	FENCE_ENABLE polling at 3 s	minor	✅ Addressed — interval increased to 10 s (FENCE_ENABLE_POLL_INTERVAL_MS = 10000), with an updated comment explaining the lazy cadence.
6.1	Redundant console.warn pair in capability-request catch	nit	❌ Not addressed — two consecutive console.warn calls remain in the requestAutopilotCapabilities().catch() handler (src/libs/vehicle/mavlink/vehicle.ts).
6.2	setFenceEnabled/setFenceAutoEnable declared async but body is sync	nit	❌ Not addressed — both functions in src/stores/geoFence.ts are still marked async returning Promise<void> without any await in their body.
10.1	Local EARTH_RADIUS_M instead of turf's constant	nit	⚪ No longer applicable — the constant is used only by offsetCoordinates which does manual arithmetic, not turf calls, so a local constant is reasonable.
10.2	turf.distance vs haversine-distance inconsistency	nit	⚪ No longer applicable — informational note; no action required.
10.3	Unused CockpitMission re-export in geofence types	nit	❌ Not addressed — export type { CockpitMission } still present at the bottom of src/types/geofence.ts.

New findings

0. Summary

Verdict: MINOR SUGGESTIONS

Minor items to consider: 6.1, 6.2 (carried over nits)

This re-review covers the incremental changes since the first review. The author addressed all four substantive findings (1.1–1.3, 4.1) — clearFence now properly awaits an ACK, the shared-cache constraint is documented, the listener lifetime is commented, and the polling interval was relaxed to 10 s. Two nits (redundant console.warn, misleading async) and a minor type-hygiene point remain, but nothing blocking.

1. Correctness & Implementation Bugs — ✅

2. AGENTS.md Adherence — ✅

3. Security — ✅

4. Performance — ✅

5. UI / UX — ✅

6. Code Quality & Style — ✅

No new findings beyond the two carried-over nits (6.1 and 6.2) noted in the status table above.

7. Commit Hygiene — ✅

8. Tests — ✅

9. Documentation — ✅

10. Nitpicks / Optional — ✅

No new nits beyond 10.3 carried over above.

Generated by Claude. This is advisory; a human reviewer must still approve.

[ArturoManzoli]

/review

[github-actions]

Automated PR Re-review 3 (Claude)

Comparing 8ff9d6b19f54de8d38498cb8bb9e9b282a3575ee → dbefadd961dc0190b14084aed38520480d138fd7

The incremental diff includes all PR files because the branch was rebased since the last review. Re-checking is based on the full pr.diff.

Previous findings status

#	Finding	Severity	Status
6.1	Redundant console.warn pair in capability-request catch	nit	⚪ No longer applicable — on re-inspection the catch handler has a single console.warn call (message + error as two arguments), not two separate calls, and there is no paired openSnackbar. This was a mis-read in the previous review.
6.2	setFenceEnabled/setFenceAutoEnable declared async but body is sync	nit	⚪ No longer applicable — on re-inspection both functions are plain synchronous arrow functions (const setFenceEnabled = (enabled: boolean): void =>, const setFenceAutoEnable = (mode: number): void =>); they were never async in the current code.
10.3	Unused CockpitMission re-export in src/types/geofence.ts	nit	✅ Addressed — the file no longer contains the stray re-export; emptyGeoFencePlan was centralized in src/libs/geo-fence.ts and re-exported from the conversion module (commit dbefadd).

New findings

0. Summary

Verdict: READY TO MERGE

This PR adds geofence plan types, MAVLink geofence conversion helpers, fence upload/fetch/clear over the mission micro-service, autopilot capability tracking, generic parameter-request helpers, and a geoFence Pinia store with draft persistence, vehicle sync, and enforcement polling. The previous review's substantive findings (1.1–1.3, 4.1) were already addressed in review 2. The remaining nits (6.1, 6.2, 10.3) are now all resolved or were inapplicable. No new issues found in the latest commit or the full PR.

1. Correctness & Implementation Bugs — ✅

2. AGENTS.md Adherence — ✅

3. Security — ✅

4. Performance — ✅

5. UI / UX — ✅

6. Code Quality & Style — ✅

7. Commit Hygiene

7.1 nit — Two review-fixup commits (a457afa "review: round 1 — guard FENCE_TYPE read…" and dbefadd "review: round 1 — centralize empty geofence plan…") should be folded into their parent commits before merge per AGENTS.md commit-hygiene rules. The second commit message itself notes this ("logically folds into the geo-fence libs commit on a stack reshape"). Consider squashing these into the relevant base commits so the history reads as clean logical units.

8. Tests — ✅

9. Documentation — ✅

10. Nitpicks / Optional — ✅

Generated by Claude. This is advisory; a human reviewer must still approve.

[ArturoManzoli]

@rafaellehmkuhl This one is ready to review