core: autopilot_manager: Add fallback router init

* Make autopilot manager fallback to first avbailable router when
  unable to start current preferred router

core/services/ardupilot_manager/ArduPilotManager.py

@@ -55,10 +55,20 @@ def __init__(self) -> None:
  async def setup(self) -> None:
  # This is the logical continuation of __init__(), extracted due to its async nature
  self.configuration = deepcopy(self.settings.content)
- self.mavlink_manager = MavlinkManager(self.load_preferred_router())
- if not self.load_preferred_router():
- await self.set_preferred_router(self.mavlink_manager.available_interfaces()[0].name())
- logger.info(f"Setting {self.mavlink_manager.available_interfaces()[0].name()} as preferred router.")
+
+ self.mavlink_manager = MavlinkManager()
+ preferred_router = self.load_preferred_router()
+ try:
+ self.mavlink_manager = MavlinkManager(preferred_router)
+ except ValueError as error:
+ logger.warning(
+ f"Failed to start MavlinkManager[{preferred_router}]. Falling back to the first available router. Error details: {error}"
+ )
+ preferred_router = None
+
+ if not preferred_router:
+ await self.set_preferred_router(self.mavlink_manager.tool.name())
+ logger.info(f"Setting {self.mavlink_manager.tool.name()} as preferred router.")
  self.mavlink_manager.set_logdir(self.settings.log_path)
 
  self._load_endpoints()

core/services/ardupilot_manager/mavlink_proxy/AbstractRouter.py

@@ -81,7 +81,7 @@ def get_interface(name: str) -> Type["AbstractRouter"]:
  for interface in AbstractRouter.__subclasses__():
  if interface.is_ok() and interface.name() == name:
  return interface
- raise RuntimeError("Interface is not ok or does not exist.")
+ raise ValueError("Interface is not ok or does not exist.")
 
  def binary(self) -> Optional[str]:
  return self._binary