Hotfix : mavlink_object 內 process_data 的 try 迴圈刪減

(try 嚴重影響效能)

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -331,18 +331,18 @@ class mavlink_object:
             try:
                 # 處理接收到的封包
                 mavlinkMsg = self.mavlink_socket.recv_msg()
-            except Exception as e:
-                logger.warning(f"Error in mavlink_object.process_data for id {self.socket_id}: {e}")
-                self.dirtyDataCount += 1
+            # except Exception as e:
+            #     logger.warning(f"Error in mavlink_object.process_data for id {self.socket_id}: {e}")
+            #     self.dirtyDataCount += 1
                 
-                if self.dirtyDataCount >= self.dirtyDataMax:
-                    logger.error(f"Too many dirty data received in mavlink_object {self.socket_id}, entering ERROR state")
-                    self.state = MavlinkObjectState.ERROR
-                # 不直接退出，嘗試容忍髒數據
-                await asyncio.sleep(0.01)  # 短暫暫停
-                continue
+            #     if self.dirtyDataCount >= self.dirtyDataMax:
+            #         logger.error(f"Too many dirty data received in mavlink_object {self.socket_id}, entering ERROR state")
+            #         self.state = MavlinkObjectState.ERROR
+            #     # 不直接退出，嘗試容忍髒數據
+            #     await asyncio.sleep(0.01)  # 短暫暫停
+                # continue
             
-            try:
+            # try:
                 if mavlinkMsg:
                     # 統計收到的訊息 & 透過 mavlink 封包的序列號來檢查是否有遺失的封包 & 記錄最後收到的封包時間
                     sysid = mavlinkMsg.get_srcSystem()
@@ -374,7 +374,7 @@ class mavlink_object:
                                     logger.error(f"Error forwarding message to port {target_port}: {e}")
 
                 with self.outgoing_msg_lock:
-                    if self.outgoing_messages and (send_msg := self.outgoing_messages.pop(0)):
+                    if self.outgoing_msgs and (send_msg := self.outgoing_msgs.pop(0)):
                         try:
                             self.mavlink_socket.write(send_msg)
                         except Exception as e:
@@ -387,6 +387,13 @@ class mavlink_object:
                 logger.info(f'mavlink_object.process_data for id {self.socket_id} was cancelled')
                 break
             except Exception as e:
+                logger.warning(f"Error in mavlink_object.process_data for id {self.socket_id}: {e}")
+                self.dirtyDataCount += 1
+                
+                if self.dirtyDataCount >= self.dirtyDataMax:
+                    logger.error(f"Too many dirty data received in mavlink_object {self.socket_id}, entering ERROR state")
+                    self.state = MavlinkObjectState.ERROR
+                # 不直接退出，嘗試容忍髒數據
                 await asyncio.sleep(0.01)  # 短暫暫停避免CPU過載
                 
         
@@ -442,8 +449,8 @@ class mavlink_object:
         
         try:
             # 使用鎖保護共享資源訪問
-            with self.outgoing_messages_lock:
-                self.outgoing_messages.append(message_bytes)
+            with self.outgoing_msgs_lock:
+                self.outgoing_msgs.append(message_bytes)
             return True
         except Exception as e:
             logger.error(f"Error queueing message for mavlink_object {self.socket_id}: {e}")

src/fc_network_adapter/tests/devRun.py

@@ -18,8 +18,8 @@ from fc_network_adapter import mavlinkDevice as md
 
 # ====================== 分割線 =====================
 
-test_item = 21
-running_time = 30
+test_item = 12
+running_time = 10000
 
 
 print('test_item : ', test_item)
@@ -147,6 +147,8 @@ elif test_item == 12:
     manager.add_mavlink_object(mavlink_object_in1)
     manager.add_mavlink_object(mavlink_object_in2)
 
+    time.sleep(1)  # 等待通道啟動
+
     mavlink_object_in1.add_target_socket(mavlink_object_out.socket_id)  
     mavlink_object_out.add_target_socket(mavlink_object_in1.socket_id)