Merge GUI 1.0.1 from ken
This commit is contained in:
@@ -0,0 +1,767 @@
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from rclpy.node import Node
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from PyQt6.QtCore import QObject, pyqtSignal
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import math
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import re
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import threading
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from threading import Lock
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import asyncio
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import websockets
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import json
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import socket
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from pymavlink import mavutil
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from geometry_msgs.msg import Point, Vector3
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from sensor_msgs.msg import BatteryState, NavSatFix, Imu
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from std_msgs.msg import Float64, String
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from mavros_msgs.msg import State, VfrHud
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from mavros_msgs.srv import CommandBool, CommandTOL
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class DroneSignals(QObject):
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update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data)
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class UDPMavlinkReceiver(threading.Thread):
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"""UDP MAVLink 接收器"""
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def __init__(self, ip, port, signals, connection_name, monitor=None):
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super().__init__(daemon=True)
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self.ip = ip
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self.port = port
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self.signals = signals
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self.connection_name = connection_name
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self.monitor = monitor # 保存 monitor 引用
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self.socket_id = monitor.get_next_socket_id() if monitor else 0
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self.running = False
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self.sock = None
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def run(self):
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"""執行 UDP 接收循環"""
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self.running = True
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try:
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print(f"UDP MAVLink receiver started on {self.ip}:{self.port}")
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# 創建 MAVLink 連接
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mav = mavutil.mavlink_connection(f'udpin:{self.ip}:{self.port}')
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while self.running:
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try:
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msg = mav.recv_match(blocking=True, timeout=1.0)
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if msg is None:
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continue
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self.process_mavlink_message(msg)
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except socket.timeout:
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continue
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except Exception as e:
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print(f"Error receiving MAVLink message: {e}")
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except Exception as e:
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print(f"UDP receiver error: {e}")
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finally:
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if self.sock:
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self.sock.close()
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def process_mavlink_message(self, msg):
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"""處理 MAVLink 訊息"""
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try:
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msg_type = msg.get_type()
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system_id = msg.get_srcSystem()
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drone_id = f"s{self.socket_id}_{system_id}"
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if msg_type == "HEARTBEAT":
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# 先發送連接類型資訊
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self.signals.update_signal.emit('connection_type', drone_id, {
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'type': 'UDP'
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})
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mode = mavutil.mode_string_v10(msg)
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armed = bool(msg.base_mode & 128)
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self.signals.update_signal.emit('state', drone_id, {
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'mode': mode,
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'armed': armed
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})
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elif msg_type == "BATTERY_STATUS":
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voltage = msg.voltages[0] / 1000
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self.signals.update_signal.emit('battery', drone_id, {
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'voltage': voltage
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})
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elif msg_type == "GLOBAL_POSITION_INT":
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latitude = msg.lat / 1e7
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longitude = msg.lon / 1e7
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self.signals.update_signal.emit('gps', drone_id, {
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'lat': latitude,
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'lon': longitude
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})
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elif msg_type == "GPS_RAW_INT":
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fix_type = msg.fix_type
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elif msg_type == "LOCAL_POSITION_NED":
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x = msg.y
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y = msg.x
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z = -msg.z
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self.signals.update_signal.emit('local_pose', drone_id, {
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'x': x,
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'y': y,
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'z': z
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})
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self.signals.update_signal.emit('altitude', drone_id, {
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'altitude': z
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})
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self.signals.update_signal.emit('velocity', drone_id, {
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'vx': msg.vx,
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'vy': msg.vy,
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'vz': msg.vz
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})
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elif msg_type == "ATTITUDE":
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# 從 MAVLink 訊息中提取並轉為角度
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pitch = math.degrees(msg.pitch)
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roll = math.degrees(msg.roll)
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yaw = math.degrees(msg.yaw)
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self.signals.update_signal.emit('attitude', drone_id, {
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'pitch': pitch,
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'roll': roll,
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'yaw': yaw,
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'rates': (msg.rollspeed, msg.pitchspeed, msg.yawspeed)
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})
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elif msg_type == "VFR_HUD":
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self.signals.update_signal.emit('hud', drone_id, {
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'airspeed': msg.airspeed,
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'groundspeed': msg.groundspeed,
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'heading': msg.heading,
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'throttle': msg.throttle,
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'alt': msg.alt,
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'climb': msg.climb
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})
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except Exception as e:
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print(f"Error processing MAVLink message: {e}")
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def stop(self):
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"""停止接收器"""
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self.running = False
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class SerialMavlinkReceiver(threading.Thread):
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"""串口 MAVLink 接收器"""
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def __init__(self, port, baudrate, signals, connection_name, monitor=None):
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super().__init__(daemon=True)
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self.port = port
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self.baudrate = baudrate
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self.signals = signals
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self.connection_name = connection_name
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self.monitor = monitor # 保存 monitor 引用
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self.socket_id = monitor.get_next_socket_id() if monitor else 0
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self.running = False
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self.mav = None
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def run(self):
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"""執行串口接收循環"""
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self.running = True
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try:
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print(f"Serial MAVLink receiver started on {self.port} at {self.baudrate} baud")
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# 創建 MAVLink 串口連接
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self.mav = mavutil.mavlink_connection(
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self.port,
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baud=self.baudrate,
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source_system=255
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)
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print(f"Waiting for heartbeat from {self.port}...")
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self.mav.wait_heartbeat()
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print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}")
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while self.running:
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try:
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msg = self.mav.recv_match(blocking=True, timeout=1.0)
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if msg is None:
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continue
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self.process_mavlink_message(msg)
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except Exception as e:
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if self.running:
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print(f"Error receiving MAVLink message from serial: {e}")
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except Exception as e:
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print(f"Serial receiver error: {e}")
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finally:
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if self.mav:
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try:
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self.mav.close()
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except:
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pass
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def process_mavlink_message(self, msg):
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"""處理 MAVLink 訊息"""
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try:
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msg_type = msg.get_type()
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system_id = msg.get_srcSystem()
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drone_id = f"s{self.socket_id}_{system_id}"
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if msg_type == "HEARTBEAT":
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# 先發送連接類型資訊
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self.signals.update_signal.emit('connection_type', drone_id, {
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'type': 'Serial'
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})
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mode = mavutil.mode_string_v10(msg)
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armed = bool(msg.base_mode & 128)
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self.signals.update_signal.emit('state', drone_id, {
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'mode': mode,
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'armed': armed
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})
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elif msg_type == "BATTERY_STATUS":
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voltage = msg.voltages[0] / 1000
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self.signals.update_signal.emit('battery', drone_id, {
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'voltage': voltage
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})
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elif msg_type == "GLOBAL_POSITION_INT":
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latitude = msg.lat / 1e7
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longitude = msg.lon / 1e7
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self.signals.update_signal.emit('gps', drone_id, {
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'lat': latitude,
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'lon': longitude
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})
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elif msg_type == "GPS_RAW_INT":
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fix_type = msg.fix_type
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elif msg_type == "LOCAL_POSITION_NED":
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x = msg.y
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y = msg.x
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z = -msg.z
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self.signals.update_signal.emit('local_pose', drone_id, {
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'x': x,
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'y': y,
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'z': z
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})
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self.signals.update_signal.emit('altitude', drone_id, {
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'altitude': z
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})
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self.signals.update_signal.emit('velocity', drone_id, {
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'vx': msg.vx,
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'vy': msg.vy,
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'vz': msg.vz
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})
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elif msg_type == "ATTITUDE":
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# 從 MAVLink 訊息中提取並轉為角度
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pitch = math.degrees(msg.pitch)
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roll = math.degrees(msg.roll)
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yaw = math.degrees(msg.yaw)
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self.signals.update_signal.emit('attitude', drone_id, {
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'pitch': pitch,
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'roll': roll,
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'yaw': yaw,
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'rates': (msg.rollspeed, msg.pitchspeed, msg.yawspeed)
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})
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elif msg_type == "VFR_HUD":
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self.signals.update_signal.emit('hud', drone_id, {
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'airspeed': msg.airspeed,
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'groundspeed': msg.groundspeed,
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'heading': msg.heading,
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'throttle': msg.throttle,
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'alt': msg.alt,
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'climb': msg.climb
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})
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except Exception as e:
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print(f"Error processing MAVLink message from serial: {e}")
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def stop(self):
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"""停止接收器"""
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self.running = False
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class WebSocketMavlinkReceiver(threading.Thread):
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"""WebSocket MAVLink 接收器"""
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def __init__(self, url, signals, connection_name, monitor=None):
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super().__init__(daemon=True)
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self.url = url
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self.signals = signals
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self.connection_name = connection_name
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self.monitor = monitor # 保存 monitor 引用 self.socket_id = monitor.get_next_socket_id() if monitor else 0 # 一次性分配 socket_id self.running = False
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self.max_retries = 5
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self.base_delay = 1.0
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def run(self):
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"""執行 WebSocket 接收循環"""
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self.running = True
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asyncio.set_event_loop(asyncio.new_event_loop())
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asyncio.get_event_loop().run_until_complete(self.ws_client_loop())
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async def ws_client_loop(self):
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"""WebSocket 連接的主循環"""
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retry_count = 0
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print(f"Starting WebSocket client for {self.connection_name} at {self.url}")
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while self.running and retry_count < self.max_retries:
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try:
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async with websockets.connect(self.url) as websocket:
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print(f"WebSocket {self.connection_name} connected to {self.url}")
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retry_count = 0 # 重置重試計數
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async for message in websocket:
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if not self.running:
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break
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try:
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data = json.loads(message)
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data['_connection_source'] = self.connection_name
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self.process_websocket_message(data)
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except json.JSONDecodeError as e:
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print(f"WebSocket {self.connection_name} JSON decode error: {e}")
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except Exception as e:
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print(f"WebSocket {self.connection_name} message processing error: {e}")
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except websockets.exceptions.ConnectionClosedError:
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print(f"WebSocket {self.connection_name} connection closed")
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if self.running:
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retry_count += 1
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if retry_count < self.max_retries:
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delay = self.base_delay * (2 ** min(retry_count, 4))
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print(f"Reconnecting in {delay}s...")
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await asyncio.sleep(delay)
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else:
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break
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except Exception as e:
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retry_count += 1
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if retry_count < self.max_retries and self.running:
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delay = self.base_delay * (2 ** min(retry_count, 4))
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print(f"WebSocket {self.connection_name} connection error: {e}, retrying in {delay}s (attempt {retry_count}/{self.max_retries})")
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await asyncio.sleep(delay)
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else:
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break
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print(f"WebSocket client {self.connection_name} stopped")
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def process_websocket_message(self, data):
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"""處理 WebSocket 訊息"""
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try:
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system_id = data.get('system_id')
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if not system_id:
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return
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drone_id = f"s{self.socket_id}_{system_id}"
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# 模式
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if 'mode' in data:
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# 先發送連接類型資訊
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self.signals.update_signal.emit('connection_type', drone_id, {
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'type': 'WS'
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})
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self.signals.update_signal.emit('state', drone_id, {
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'mode': data['mode'],
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})
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# 電池
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if 'battery' in data:
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self.signals.update_signal.emit('battery', drone_id, {
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'percentage': data['battery']
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})
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# 位置
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if 'position' in data:
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pos = data['position']
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self.signals.update_signal.emit('gps', drone_id, {
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'lat': pos.get('lat', 0),
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'lon': pos.get('lon', 0)
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})
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# Local position - 設定 x, y 為 0.0
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self.signals.update_signal.emit('local_pose', drone_id, {
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'x': 0.0,
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'y': 0.0,
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'z': 0.0
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})
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# Altitude - 設定為 0.0
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self.signals.update_signal.emit('altitude', drone_id, {
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'altitude': 0.0
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})
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||||
# 航向
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if 'heading' in data:
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self.signals.update_signal.emit('hud', drone_id, {
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'heading': data['heading'],
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||||
'groundspeed': 0.0
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||||
})
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||||
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||||
except Exception as e:
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print(f"WebSocket message processing error: {e}")
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||||
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||||
def stop(self):
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"""停止接收器"""
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||||
self.running = False
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||||
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||||
class DroneMonitor(Node):
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# Subscribe to drone ROS2 topics
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||||
def __init__(self):
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||||
super().__init__('drone_monitor')
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||||
self.signals = DroneSignals()
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||||
self.drone_topics = {}
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||||
self.lock = Lock()
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||||
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||||
self.arm_clients = {}
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||||
self.takeoff_clients = {}
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||||
self.setpoint_pubs = {}
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||||
self.selected_drones = set()
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||||
self.latest_data = {}
|
||||
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||||
# 定義需要過濾的模式
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self.filtered_modes = ['Mode(0x000000c0)']
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||||
|
||||
# WebSocket 接收器列表
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||||
self.ws_receivers = []
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||||
|
||||
# 串口接收器列表
|
||||
|
||||
# ================================================================================
|
||||
# 【新增】儲存 GPS 資料的字典
|
||||
# ================================================================================
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||||
self.drone_gps = {} # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}}
|
||||
# ================================================================================
|
||||
|
||||
# ================================================================================
|
||||
# 【新增】Socket ID 重新分配機制 (從 0 開始)
|
||||
# ================================================================================
|
||||
self.socket_id_mapping = {} # {原始socket_id: 重新分配的socket_id}
|
||||
self.socket_id_counter = 0 # 當前分配到的最大socket_id
|
||||
self.socket_id_lock = Lock() # 線程安全鎖
|
||||
# ================================================================================
|
||||
|
||||
# ================================================================================
|
||||
# 【新增】儲存 sys_id 到 actual_drone_id 的映射 (從 summary 獲取)
|
||||
# ================================================================================
|
||||
self.sys_to_actual_id = {} # {sys_id: actual_drone_id} e.g. {'sys11': 's0_11'}
|
||||
self.sys_to_socket_id = {} # {sys_id: assigned_socket_id} e.g. {'sys11': 0}
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# ================================================================================
|
||||
self.serial_receivers = []
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||||
|
||||
# 主题检测定时器
|
||||
self.create_timer(1.0, self.scan_topics)
|
||||
|
||||
def get_next_socket_id(self):
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||||
"""获取下一个可用的 socket_id（从 0 开始连续分配）"""
|
||||
with self.socket_id_lock:
|
||||
current_id = self.socket_id_counter
|
||||
self.socket_id_counter += 1
|
||||
return current_id
|
||||
|
||||
def get_or_assign_socket_id(self, original_socket_id):
|
||||
"""根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配）
|
||||
同一個原始 socket_id 會得到同一個分配的 ID
|
||||
"""
|
||||
original_socket_id = str(original_socket_id)
|
||||
|
||||
with self.socket_id_lock:
|
||||
if original_socket_id not in self.socket_id_mapping:
|
||||
# 分配新的 socket_id
|
||||
self.socket_id_mapping[original_socket_id] = self.socket_id_counter
|
||||
self.socket_id_counter += 1
|
||||
|
||||
return self.socket_id_mapping[original_socket_id]
|
||||
|
||||
def scan_topics(self):
|
||||
topics = self.get_topic_names_and_types()
|
||||
drone_pattern = re.compile(r'/fc_network/vehicle/(sys\d+)/(\w+)')
|
||||
|
||||
found_drones = set()
|
||||
for topic_name, _ in topics:
|
||||
if match := drone_pattern.match(topic_name):
|
||||
sys_id, topic_type = match.groups()
|
||||
found_drones.add(sys_id)
|
||||
with self.lock:
|
||||
self.drone_topics.setdefault(sys_id, set()).add(topic_type)
|
||||
|
||||
for sys_id in found_drones:
|
||||
# 为每个 sys_id 分配 socket_id（如果还没有分配）
|
||||
# 注意：如果后续 summary 提供了 socket_id，会使用 summary 的映射覆盖
|
||||
if sys_id not in self.sys_to_socket_id:
|
||||
# 暂时所有 ROS2 topic 共享同一个 socket_id = 0
|
||||
self.sys_to_socket_id[sys_id] = 0
|
||||
|
||||
if not hasattr(self, f'drone_{sys_id}_subs'):
|
||||
self.setup_drone(sys_id)
|
||||
|
||||
def setup_drone(self, sys_id):
|
||||
# sys_id 格式： sys11, sys12, ...
|
||||
base_topic = f'/fc_network/vehicle/{sys_id}'
|
||||
|
||||
# Add service clients (保留但可能無法使用，因為新 topic 可能沒有這些服務)
|
||||
self.arm_clients[sys_id] = self.create_client(
|
||||
CommandBool,
|
||||
f'{base_topic}/cmd/arming'
|
||||
)
|
||||
self.takeoff_clients[sys_id] = self.create_client(
|
||||
CommandTOL,
|
||||
f'{base_topic}/cmd/takeoff'
|
||||
)
|
||||
|
||||
# Add setpoint publisher
|
||||
self.setpoint_pubs[sys_id] = self.create_publisher(
|
||||
Point,
|
||||
f'{base_topic}/setpoint_position/local',
|
||||
10
|
||||
)
|
||||
|
||||
subs = {
|
||||
'battery': self.create_subscription(
|
||||
BatteryState,
|
||||
f'{base_topic}/battery',
|
||||
lambda msg, sid=sys_id: self.battery_callback(sid, msg),
|
||||
10
|
||||
),
|
||||
'position': self.create_subscription(
|
||||
NavSatFix,
|
||||
f'{base_topic}/position',
|
||||
lambda msg, sid=sys_id: self.gps_callback(sid, msg),
|
||||
10
|
||||
),
|
||||
'summary': self.create_subscription(
|
||||
String,
|
||||
f'{base_topic}/summary',
|
||||
lambda msg, sid=sys_id: self.summary_callback(sid, msg),
|
||||
10
|
||||
),
|
||||
'vfr_hud': self.create_subscription(
|
||||
VfrHud,
|
||||
f'{base_topic}/vfr_hud',
|
||||
lambda msg, sid=sys_id: self.hud_callback(sid, msg),
|
||||
10
|
||||
)
|
||||
}
|
||||
|
||||
setattr(self, f'drone_{sys_id}_subs', subs)
|
||||
|
||||
async def arm_drone(self, drone_id, arm):
|
||||
if drone_id not in self.arm_clients:
|
||||
return False
|
||||
|
||||
client = self.arm_clients[drone_id]
|
||||
if not client.wait_for_service(timeout_sec=1.0):
|
||||
return False
|
||||
|
||||
request = CommandBool.Request()
|
||||
request.value = arm
|
||||
|
||||
future = client.call_async(request)
|
||||
try:
|
||||
response = await future
|
||||
return response.success
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Arm service call failed: {e}')
|
||||
return False
|
||||
|
||||
async def takeoff_drone(self, drone_id, altitude=10.0):
|
||||
if drone_id not in self.takeoff_clients:
|
||||
return False
|
||||
|
||||
client = self.takeoff_clients[drone_id]
|
||||
if not client.wait_for_service(timeout_sec=1.0):
|
||||
return False
|
||||
|
||||
request = CommandTOL.Request()
|
||||
request.altitude = altitude
|
||||
request.min_pitch = 0.0
|
||||
request.yaw = 0.0
|
||||
|
||||
future = client.call_async(request)
|
||||
try:
|
||||
response = await future
|
||||
return response.success
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Takeoff service call failed: {e}')
|
||||
return False
|
||||
|
||||
def send_setpoint(self, drone_id, x, y, z):
|
||||
"""Send setpoint position command"""
|
||||
if drone_id not in self.setpoint_pubs:
|
||||
return False
|
||||
|
||||
msg = Point()
|
||||
msg.x = float(x)
|
||||
msg.y = float(y)
|
||||
msg.z = float(z)
|
||||
|
||||
self.setpoint_pubs[drone_id].publish(msg)
|
||||
return True
|
||||
|
||||
def quaternion_to_euler(self, q):
|
||||
sinr_cosp = 2 * (q.w * q.x + q.y * q.z)
|
||||
cosr_cosp = 1 - 2 * (q.x**2 + q.y**2)
|
||||
roll = math.atan2(sinr_cosp, cosr_cosp)
|
||||
|
||||
sinp = 2 * (q.w * q.y - q.z * q.x)
|
||||
pitch = math.asin(sinp) if abs(sinp) < 1 else math.copysign(math.pi/2, sinp)
|
||||
|
||||
siny_cosp = 2 * (q.w * q.z + q.x * q.y)
|
||||
cosy_cosp = 1 - 2 * (q.y**2 + q.z**2)
|
||||
yaw = math.atan2(siny_cosp, cosy_cosp)
|
||||
|
||||
return math.degrees(roll), math.degrees(pitch), math.degrees(yaw)
|
||||
|
||||
# callbacks
|
||||
def attitude_callback(self, drone_id, msg):
|
||||
if hasattr(msg, 'orientation'):
|
||||
roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
|
||||
self.latest_data[(drone_id, 'attitude')] = {
|
||||
'roll': roll,
|
||||
'pitch': pitch,
|
||||
'yaw': yaw,
|
||||
'rates': (msg.angular_velocity.x,
|
||||
msg.angular_velocity.y,
|
||||
msg.angular_velocity.z)
|
||||
}
|
||||
|
||||
def battery_callback(self, sys_id, msg):
|
||||
# 使用映射獲取實際的 drone_id
|
||||
actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
|
||||
# 如果還沒有從 summary 獲取到映射，則不處理
|
||||
if actual_drone_id is None:
|
||||
return
|
||||
|
||||
self.latest_data[(actual_drone_id, 'battery')] = {
|
||||
'voltage': msg.voltage
|
||||
}
|
||||
|
||||
def state_callback(self, drone_id, msg):
|
||||
mode = msg.mode
|
||||
if mode in self.filtered_modes:
|
||||
return
|
||||
self.latest_data[(drone_id, 'state')] = {
|
||||
'mode': msg.mode,
|
||||
'armed': msg.armed
|
||||
}
|
||||
|
||||
def summary_callback(self, sys_id, msg):
|
||||
"""處理 summary topic (JSON 格式)"""
|
||||
try:
|
||||
data = json.loads(msg.data)
|
||||
mode = data.get('mode_name', 'UNKNOWN')
|
||||
if mode in self.filtered_modes:
|
||||
return
|
||||
|
||||
# 從 summary 獲取原始 socket_id，並映射到分配的 socket_id
|
||||
original_socket_id = data.get('socket_id')
|
||||
if original_socket_id is not None:
|
||||
# 使用原始 socket_id 獲取或分配統一的 socket_id
|
||||
assigned_socket_id = self.get_or_assign_socket_id(original_socket_id)
|
||||
else:
|
||||
# 如果沒有 socket_id，使用 sys_to_socket_id 映射
|
||||
assigned_socket_id = self.sys_to_socket_id.get(sys_id, 0)
|
||||
|
||||
sysid = data.get('sysid')
|
||||
if sysid is not None:
|
||||
actual_drone_id = f's{assigned_socket_id}_{sysid}'
|
||||
|
||||
# ================================================================================
|
||||
# 【關鍵】保存 sys_id 到 actual_drone_id 的映射
|
||||
# ================================================================================
|
||||
self.sys_to_actual_id[sys_id] = actual_drone_id
|
||||
# ================================================================================
|
||||
else:
|
||||
# 如果沒有 sysid，使用 sys_id 中的數字
|
||||
sys_num = sys_id.replace('sys', '')
|
||||
actual_drone_id = f's{assigned_socket_id}_{sys_num}'
|
||||
self.sys_to_actual_id[sys_id] = actual_drone_id
|
||||
|
||||
# 先發送連接類型資訊
|
||||
self.signals.update_signal.emit('connection_type', actual_drone_id, {
|
||||
'type': 'ROS2'
|
||||
})
|
||||
|
||||
self.latest_data[(actual_drone_id, 'state')] = {
|
||||
'mode': mode,
|
||||
'armed': data.get('armed', False),
|
||||
'socket_id': original_socket_id,
|
||||
'sysid': sysid,
|
||||
'vehicle_type': data.get('vehicle_type'),
|
||||
'autopilot': data.get('autopilot'),
|
||||
'gps_fix': data.get('gps_fix'),
|
||||
'gps_fix_type': data.get('gps_fix'),
|
||||
'connected': data.get('connected')
|
||||
}
|
||||
except json.JSONDecodeError as e:
|
||||
print(f"Error parsing summary JSON for {sys_id}: {e}")
|
||||
except Exception as e:
|
||||
print(f"Error in summary_callback for {sys_id}: {e}")
|
||||
|
||||
def gps_callback(self, sys_id, msg):
|
||||
# 使用映射獲取實際的 drone_id
|
||||
actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
|
||||
# 如果還沒有從 summary 獲取到映射，則不處理
|
||||
if actual_drone_id is None:
|
||||
return
|
||||
|
||||
self.latest_data[(actual_drone_id, 'gps')] = {
|
||||
'lat': msg.latitude,
|
||||
'lon': msg.longitude,
|
||||
'alt': msg.altitude
|
||||
}
|
||||
|
||||
# ================================================================================
|
||||
# 【新增】儲存 GPS 資料到 drone_gps 字典
|
||||
# ================================================================================
|
||||
self.drone_gps[actual_drone_id] = {
|
||||
'lat': msg.latitude,
|
||||
'lon': msg.longitude,
|
||||
'alt': msg.altitude
|
||||
}
|
||||
# ================================================================================
|
||||
|
||||
def local_vel_callback(self, drone_id, msg):
|
||||
self.latest_data[(drone_id, 'velocity')] = {
|
||||
'vx': msg.x,
|
||||
'vy': msg.y,
|
||||
'vz': msg.z
|
||||
}
|
||||
|
||||
def altitude_callback(self, drone_id, msg):
|
||||
self.latest_data[(drone_id, 'altitude')] = {
|
||||
'altitude': msg.data
|
||||
}
|
||||
|
||||
def local_pose_callback(self, drone_id, msg):
|
||||
self.latest_data[(drone_id, 'local_pose')] = {
|
||||
'x': msg.x,
|
||||
'y': msg.y,
|
||||
'z': msg.z
|
||||
}
|
||||
|
||||
def hud_callback(self, sys_id, msg):
|
||||
# 使用映射獲取實際的 drone_id
|
||||
actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
|
||||
# 如果還沒有從 summary 獲取到映射，則不處理
|
||||
if actual_drone_id is None:
|
||||
return
|
||||
|
||||
self.latest_data[(actual_drone_id, 'hud')] = {
|
||||
'airspeed': msg.airspeed,
|
||||
'groundspeed': msg.groundspeed,
|
||||
'heading': msg.heading,
|
||||
'throttle': msg.throttle,
|
||||
'alt': msg.altitude,
|
||||
'climb': msg.climb
|
||||
}
|
||||
|
||||
def loss_rate_callback(self, drone_id, msg):
|
||||
self.latest_data[(drone_id, 'loss_rate')] = {
|
||||
'loss_rate': msg.data
|
||||
}
|
||||
|
||||
def ping_callback(self, drone_id, msg):
|
||||
self.latest_data[(drone_id, 'ping')] = {
|
||||
'ping': msg.data
|
||||
}
|
||||
|
||||
def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=57600):
|
||||
"""啟動串口 MAVLink 連接"""
|
||||
connection_name = f"Serial_{port.replace('/', '_')}"
|
||||
receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self)
|
||||
receiver.start()
|
||||
self.serial_receivers.append(receiver)
|
||||
print(f"Started serial connection on {port} at {baudrate} baud")
|
||||
return receiver
|
||||
Reference in New Issue
Block a user