uavlink with ros work __ publish flyinformation

class_model/src/uavlinkPubMain.py

@@ -1,11 +1,14 @@
+#!/usr/bin/env python3
+#coding:utf-8
 import serial
 import time
 import random
-import utils
 import sys
 import os
 import proto.flight_information_pb2 as flight_information_pb2
 import logging
+from utils.readConfig import Read_PUB_Config
+from utils.proto_uavlink_sub_data_from_ros import Proto_msg_from_ros
 
 import rospy
 from std_msgs.msg import String
@@ -18,19 +21,20 @@ from sensor_msgs.msg import Range
 from geometry_msgs.msg import Vector3
 
 
-def init_dataFormat(cfg:utils.Read_PUB_Config):
+def init_dataFormat(cfg:Read_PUB_Config):
     ros_namespace="/drone1"
     f1data = b'\xf1drone550..............\r\n'  
     sel = serial.Serial(cfg.port, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
     sel.write(f1data)
-    utils.Proto_msg_from_ros.sel = sel
+    Proto_msg_from_ros.sel = sel
+    Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
 
-    rospy.Subscriber(ros_namespace+'/mavros/global_position/global', NavSatFix, utils.Proto_msg_from_ros.callBack_gps)
-    rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg', Float64, utils.Proto_msg_from_ros.callBack_compass_hdg)
+    rospy.Subscriber(ros_namespace+'/mavros/global_position/global', NavSatFix, Proto_msg_from_ros.callBack_gps)
+    rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg', Float64, Proto_msg_from_ros.callBack_compass_hdg)
 
 if __name__ == '__main__':
-    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_PUB.yml")
-    cfg = utils.Read_PUB_Config(FilePath)
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
+    cfg = Read_PUB_Config(FilePath)
 
     # set log
     log_format = "%(asctime)s - %(levelname)s - %(message)s"

class_model/src/utils/proto_uavlink_sub_data_from_ros.py

@@ -23,5 +23,5 @@ class Proto_msg_from_ros:
         cls.flight_information_msg.heading = Compass.data
         flightInformationMsg = cls.flight_information_msg.SerializeToString()
         cls.sel.write(b'\xf2' + flightInformationMsg + b'\r\n')
-        readTenByte = cls.sel.readline()
+        readTenByte = cls.sel.read_all()
         print(readTenByte)

class_model/src/utils/uavlinkConfig_PUB.yml

@@ -2,7 +2,7 @@ UAVLINK:
   msg_format: Proto
   uav_id: \x01\x01
   baudrate: 250000
-  port: /dev/ttyUSB2
+  port: /dev/ttyUSB0
 MQTT: "None"
 #ROS
 ROS: