before merge change nothing

src/fc_network_adapter/fc_network_adapter/mavlinkDevice.py

@@ -1,98 +0,0 @@
-
-import os
-
-# 自定義的 import
-from .utils import setup_logger
-
-# ====================== 分割線 =====================
-
-logger = setup_logger(os.path.basename(__file__))
-
-# 用來記錄每個 system 的資訊
-# 資料格式 { sysid : mavlink_device object }
-mavlink_systems = {}
-
-# ====================== 分割線 =====================
-
-# 這個 class 是用來記錄每個 system 的資訊 每個 system 可能會有多個 component
-class mavlink_device():
-    def __init__(self):
-        self.socket_id = None # 記錄來自於哪個 socket
-        self.sysid = None
-        self.components = {} # 用來記錄每個 component 的資訊 key 是 compid, value 是 component object
-
-    def __str__(self):
-        p_str = '=====================\n'
-        p_str += f'object id : {id(self)}\n' # debug
-        p_str += f'socket_id : {self.socket_id}\n'
-        p_str += f'sysid : {self.sysid}\n'
-        p_str += 'has components : \n'
-        for compid in self.components: 
-            p_str += f'compid : {compid}\n'
-            p_str += f'mav_type : {self.components[compid].mav_type}\n'            
-        # p_str += '=====================\n'
-        return p_str
-
-    '''
-    寫了半天 這個功能應該是 pymalink 本來就有的
-    去找 pymavlink_util.py 的 mavfile(object) 
-    算了 先擺著吧 之後再看看怎麼整合
-    '''
-    def updateComponentPacketCount(self, compid, current_seq, current_type, current_time):
-        # 這段檢查遺失封包
-        try:
-            last_seq = self.components[compid].msg_seq
-        except KeyError:
-            # 這個 component id 還不存在
-            # logger.error('System ID : {} This Component ID : {} Did not init yet'.format(self.sysid, compid)) # 因為初始化的之前 會有大量非 heartbeat 的訊息進來 這是正常現象 TODO 之後要幫這個類別加上初始化狀態 再進行這個判斷
-            return
-
-        if last_seq != None:
-            expected_seq = (last_seq + 1) % 256
-            diff = current_seq - expected_seq
-            # print("current last exp diff : ",current_seq, last_seq, expected_seq, diff) # debug
-            if diff < 0:
-                diff += 256
-            self.components[compid].lost_packet_count += diff
-
-        # 這段更新封包的基本資訊
-        self.components[compid].msg_seq = current_seq
-        self.components[compid].last_msg_time = current_time
-        if current_type in self.components[compid].msg_count:
-            self.components[compid].msg_count[current_type] += 1
-        else:
-            self.components[compid].msg_count[current_type] = 1
-
-    def resetComponentPacketCount(self, compid):
-        self.components[compid].msg_count = {}
-        self.components[compid].msg_seq = None
-        self.components[compid].lost_packet_count = 0
-
-    class mavlink_component():
-        # 程式用不到的參數 但是做個記錄
-        # paraEmitList = ['base_mode', 'flightMode_mode', 
-        #                 'battery_voltage', # from BATTERY_STATUS (147)
-        #                 'gps_fix_type', # from GPS_RAW_INT (24)
-        #                 'roll', 'pitch', 'yaw',  # from ATTITUDE (30)
-        #                 'position_latitude', 'position_longitude', 'position_altitude', # from GLOBAL_POSITION_INT (33)
-        #                 'heading', # for VFR_HUD (74)
-        #                 ]
-
-        def __init__(self):
-            self.mav_type = None # 表示 Vehicle 或 component type (例如: 旋翼機是2, 雲台是26, GCS是6)
-            self.mav_autopilot = None # 表示 autopilot type (例如: ardupilot是3, px4是12)
-            self.mav_system_status = None # 表示 system status (例如: active是3, standby是4)
-            
-            # 紀錄從這個 component 收到最後的訊息序號和時間
-            self.msg_count = {}
-            self.msg_seq = None
-            self.lost_packet_count = 0
-            self.last_msg_time = 0
-
-            # 存放該 emit component 參數的區域 
-            # 內容格式為 {param_name(字串) : param_value}
-            # param_name 請見上面 paraEmitList
-            self.emitParams = {}
-            # 用來存放每個 topic 的 publisher
-            # 內容格式  為 {topic_name(字串) : [publisher(物件), method(函式)]} (?
-            self.publishers = {}