(fix) 1. 把 bridge 的種類補上可以跟 ros2 搭配

2. 一些 ros2 service 的基底 仍在開發

src/fc_network_adapter/fc_network_adapter/fc_network_adapter.md

@@ -3,8 +3,23 @@
 只會挑出重要的變數與方法描述
 以利後續開發使用
 
+# 開發此專案的注意事項
+- 預設 autopilot 的 component id = 1
+- 不允許 system id 重複
+- 增加一個固定數值監控然後要到 ros2 topic 
+  - mavlinkROS2Node.py 檔案內 
+    - PublishRateController.topic_intervals 建立
+    - VehicleStatusPublisher._publish_vehicle_status 登記
+    - VehicleStatusPublisher._publish_XXX 實作
+  - mavlinkObject.py 檔案內 
+    - mavlink_bridge.message_handlers 登記
+    - mavlink_bridge._handle_XXX 實作
+    - mavlink_object.bridge_msg_types 登記 (這個可以用介面調)
+  - mavlinkVehicleView.py 檔案內 
+    - 注意對應的資料存放區
 
 
+---
 # 檔案結構
 
 特別注意:
@@ -40,7 +55,7 @@
 ---
     關於載具管理與檢視
 - *_update_vehicles_list()*
-- *_prepare_vehicle_info*
+- *_prepare_vehicle_info()*
 ---
     關於 serial_manager 控制實現
 - *create_serial_port_object()*
@@ -167,8 +182,9 @@
 7. 終端機介面控制
 8. 基礎載具流量觀測
 9. 載具狀態收集與彙整
+10. a. ros2 topic 應用開發介面
 
 ### 待開發功能
 5-1. 建立 serial 連線 並可以對接收器下達AT指令
 5-2. 模組化 serial 連線機制 以利後期擴容其他模組
-10-1. ros2  應用開發介面
+10. a. ros2  應用開發介面

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort
 from .utils.acquirePort import find_available_port
 
 logger = setup_logger(os.path.basename(__file__))
-VERSION_NO = "v0.58"
+VERSION_NO = "v0.59"
 
 class PanelState:
     def __init__(self):

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -367,7 +367,7 @@ class mavlink_object:
         self.outgoing_msgs = deque()
         
         # 記錄訊息過濾類型 (可選)
-        self.bridge_msg_types = set([0, 30])  # 0 HEARTBEAT, 30 ATTITUDE, ...
+        self.bridge_msg_types = set([0, 30, 33, 74, 147])  # 0 HEARTBEAT, 30 ATTITUDE, 33 GLOBAL_POSITION_INT, 74 VFR_HUD, 147 BATTERY_STATUS
         self.return_msg_types = set()
 
         # 轉發到別的 mavlink object 作為目標端口 的列表

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -39,6 +39,11 @@ class PublishRateController:
     """發布頻率控制器 - 按時間間隔控制發布頻率"""
     
     def __init__(self):
+        # ═══════════════════════════════════════════════════════════════
+        # 【新增 Topic 位置 1/4】
+        # 若要新增 topic 種類，請在此字典中加入新的 topic 名稱和發布間隔
+        # 例如：'ekf_status': 1.0,  # EKF 狀態
+        # ═══════════════════════════════════════════════════════════════
         # 各 topic 的發布間隔（秒）
         self.topic_intervals = {
             'position': 0.5,       # GPS位置
@@ -48,6 +53,7 @@ class PublishRateController:
             'vfr_hud': 0.5,        # VFR HUD
             'mode': 1.0,           # 飛行模式
             'summary': 1.0,        # 載具摘要
+            # 在這裡新增更多 topics...
         }
         # 記錄每個 topic 的最後發布時間 {(sysid, topic): timestamp}
         self.last_publish_time: Dict[tuple, float] = {}
@@ -150,6 +156,11 @@ class VehicleStatusPublisher(Node):
         
         status = component.status
         
+        # ═══════════════════════════════════════════════════════════════
+        # 【新增 Topic 位置 2/4】
+        # 若要新增 topic，請在此處調用對應的發布方法
+        # 例如：self._publish_ekf_status(sysid, status)
+        # ═══════════════════════════════════════════════════════════════
         # 發布各種狀態（通過頻率控制器判斷是否發布）
         self._publish_position(sysid, status)
         self._publish_attitude(sysid, status)
@@ -158,6 +169,7 @@ class VehicleStatusPublisher(Node):
         self._publish_vfr_hud(sysid, status)
         self._publish_mode(sysid, status)
         self._publish_summary(vehicle)
+        # 在這裡新增更多 publish 方法調用...
     
     def _get_or_create_publisher(self, sysid: int, topic: str, msg_type, qos: int = 1):
         """
@@ -372,12 +384,12 @@ class VehicleStatusPublisher(Node):
             'autopilot': component.mav_autopilot if component.mav_autopilot else 0,
             'socket_id': vehicle.custom_meta.get('socket_id', -1),  # 重要！
             'armed': status.armed if status.armed is not None else False,
-            'mode_custom': status.mode.custom_mode if status.mode.custom_mode else 0,
+            # 'mode_custom': status.mode.custom_mode if status.mode.custom_mode else 0,
             'mode_name': status.mode.mode_name if status.mode.mode_name else "UNKNOWN",
-            'latitude': status.position.latitude if status.position.latitude else 0.0,
-            'longitude': status.position.longitude if status.position.longitude else 0.0,
-            'altitude': status.position.altitude if status.position.altitude else 0.0,
-            'battery_percent': status.battery.remaining if status.battery.remaining else 0,
+            # 'latitude': status.position.latitude if status.position.latitude else 0.0,
+            # 'longitude': status.position.longitude if status.position.longitude else 0.0,
+            # 'altitude': status.position.altitude if status.position.altitude else 0.0,
+            # 'battery_percent': status.battery.remaining if status.battery.remaining else 0,
             'gps_fix': status.gps.fix_type if status.gps.fix_type else 0,
             'connection_type': vehicle.connected_via.value,
             'last_update': component.packet_stats.last_msg_time if component.packet_stats.last_msg_time else 0.0,
@@ -387,6 +399,24 @@ class VehicleStatusPublisher(Node):
         msg.data = json.dumps(summary)
         publisher.publish(msg)
     
+    # ═══════════════════════════════════════════════════════════════
+    # 【新增 Topic 位置 3/4】
+    # 若要新增 topic，請在此處實作對應的發布方法
+    # 方法命名規則：def _publish_<topic_name>(self, sysid: int, status: mvv.ComponentStatus):
+    # 例如：
+    # def _publish_ekf_status(self, sysid: int, status: mvv.ComponentStatus):
+    #     """發布 EKF 狀態"""
+    #     if not self.rate_controller.should_publish(sysid, 'ekf_status'):
+    #         return
+    #     
+    #     ekf = status.ekf
+    #     if ekf.flags is None:
+    #         return
+    #     
+    #     publisher = self._get_or_create_publisher(sysid, 'ekf_status', ...
+    #     # ... 實作發布邏輯
+    # ═══════════════════════════════════════════════════════════════
+    
     @staticmethod
     def _euler_to_quaternion(roll, pitch, yaw):
         """
@@ -430,17 +460,275 @@ class MavlinkCommandService(Node):
     - 調用 mavlinkObject 發送封包
     - 處理 ACK 等待和超時（未來實現）
     
-    TODO: 稍後實現
+    設計理念：回歸 MAVLink 純粹結構
+    - 只負責將 ROS2 請求轉換為 MAVLink 封包
+    - 不預設功能（如 ARM/DISARM），保持模組化
+    - 高層應用可透過此 service 實現各種功能
     """
     
     def __init__(self):
         super().__init__('mavlink_command_service')
         
-        logger.info("MavlinkCommandService initialized (not implemented yet)")
+        # ═══════════════════════════════════════════════════════════════════
+        # ROS2 Service 架構說明：
+        # 
+        # 1. Service 定義：由 .srv 檔案定義（Request + Response）
+        #    - Request: client 發送的請求內容
+        #    - Response: server 回傳的結果
+        # 
+        # 2. Service Server 創建：
+        #    self.create_service(srv_type, service_name, callback_function)
+        #    - srv_type: service 的訊息類型（需要自定義或使用標準）
+        #    - service_name: service 的名稱（client 用此名稱呼叫）
+        #    - callback_function: 處理請求的回調函數
+        # 
+        # 3. Callback 函數：
+        #    def callback(self, request, response):
+        #        # request: 包含 client 發送的數據
+        #        # response: 需要填充並返回給 client
+        #        return response
+        # 
+        # 4. Service Client 使用方式（在其他程式中）：
+        #    client = node.create_client(srv_type, service_name)
+        #    request = srv_type.Request()
+        #    future = client.call_async(request)  # 異步調用
+        #    # 或 response = client.call(request)  # 同步調用
+        # ═══════════════════════════════════════════════════════════════════
+        
+        # 由於 ROS2 自定義 service 需要 .srv 檔案編譯
+        # 這裡先使用標準 String service 作為簡化實現
+        # TODO: 未來可創建專門的 .srv 檔案
+        from std_srvs.srv import Trigger
+        from example_interfaces.srv import SetBool
+        
+        # ═══════════════════════════════════════════════════════════════════
+        # Service 1: 發送 MAVLink Message（通用介面）
+        # 使用 Trigger 作為臨時實現，未來應使用自定義 service
+        # ═══════════════════════════════════════════════════════════════════
+        # TODO: 創建 SendMavlinkMessage.srv
+        # Request:
+        #   uint8 target_sysid
+        #   uint8 target_compid
+        #   uint16 message_id
+        #   string fields_json  # JSON 格式的字段數據
+        #   bool wait_response
+        #   uint16 response_msgid
+        #   float32 timeout
+        # Response:
+        #   bool success
+        #   string response_json
+        #   string error_message
+        
+        # 暫時使用簡化版本（僅示範架構）
+        self.srv_send_message = self.create_service(
+            Trigger,
+            '/mavlink/send_message',
+            self.handle_send_message
+        )
+        
+        # ═══════════════════════════════════════════════════════════════════
+        # Service 2: 發送 COMMAND_LONG
+        # ═══════════════════════════════════════════════════════════════════
+        self.srv_command_long = self.create_service(
+            Trigger,
+            '/mavlink/send_command_long',
+            self.handle_command_long
+        )
+        
+        # ═══════════════════════════════════════════════════════════════════
+        # Service 3: 參數請求
+        # ═══════════════════════════════════════════════════════════════════
+        self.srv_param_request = self.create_service(
+            Trigger,
+            '/mavlink/param_request',
+            self.handle_param_request
+        )
+        
+        # 狀態標記
+        self.running = True
+        
+        # mavlinkObject 的引用（將由外部設置）
+        self.mavlink_analyzer = None
+        
+        logger.info("MavlinkCommandService initialized")
+    
+    def set_mavlink_analyzer(self, mavlink_analyzer):
+        """
+        設置 mavlink_analyzer 引用
+        
+        Args:
+            mavlink_analyzer: mavlinkObject.mavlink_analyzer 實例
+        """
+        self.mavlink_analyzer = mavlink_analyzer
+        logger.info("MavlinkCommandService: mavlink_analyzer set")
+    
+    # ═══════════════════════════════════════════════════════════════════════
+    # Service Handler: 發送 MAVLink Message
+    # ═══════════════════════════════════════════════════════════════════════
+    def handle_send_message(self, request, response):
+        """
+        處理發送 MAVLink 訊息的請求
+        
+        ROS2 Service Callback 說明：
+        - 此函數會在 client 調用 service 時被執行
+        - request: 包含 client 傳入的參數
+        - response: 需要填充結果並返回給 client
+        - 必須 return response
+        
+        Args:
+            request: Trigger.Request (暫時使用，未來改為自定義)
+            response: Trigger.Response
+            
+        Returns:
+            response: 填充後的回應
+        """
+        logger.info("Received send_message request")
+        
+        # 檢查 mavlink_analyzer 是否已設置
+        if self.mavlink_analyzer is None:
+            response.success = False
+            response.message = "Error: mavlink_analyzer not set"
+            logger.error(response.message)
+            return response
+        
+        # TODO: 實際實現
+        # 1. 從 request 解析參數（target_sysid, message_id, fields 等）
+        # 2. 使用 pymavlink 組裝 MAVLink 封包
+        # 3. 調用 mavlink_analyzer.send_message() 發送
+        # 4. 如果 wait_response=True，則等待 return_packet_ring 中的回應
+        
+        # 暫時返回成功（示範用）
+        response.success = True
+        response.message = "Message sent (placeholder implementation)"
+        return response
+    
+    # ═══════════════════════════════════════════════════════════════════════
+    # Service Handler: 發送 COMMAND_LONG
+    # ═══════════════════════════════════════════════════════════════════════
+    def handle_command_long(self, request, response):
+        """
+        處理發送 COMMAND_LONG 的請求
+        
+        COMMAND_LONG (MAVLink message ID=76):
+        - 用於發送簡單命令給載具
+        - 常用於 ARM/DISARM, 模式切換, TAKEOFF, LAND 等
+        
+        Args:
+            request: Trigger.Request
+            response: Trigger.Response
+            
+        Returns:
+            response: 填充後的回應
+        """
+        logger.info("Received command_long request")
+        
+        if self.mavlink_analyzer is None:
+            response.success = False
+            response.message = "Error: mavlink_analyzer not set"
+            return response
+        
+        # TODO: 實際實現
+        # 1. 從 request 解析 COMMAND_LONG 參數
+        #    - target_sysid, target_compid
+        #    - command (MAV_CMD_xxx)
+        #    - param1~param7
+        # 2. 組裝 COMMAND_LONG 封包
+        # 3. 發送並等待 COMMAND_ACK (message ID=77)
+        # 4. 解析 ACK 結果（ACCEPTED/FAILED 等）
+        
+        response.success = True
+        response.message = "Command sent (placeholder implementation)"
+        return response
+    
+    # ═══════════════════════════════════════════════════════════════════════
+    # Service Handler: 參數請求
+    # ═══════════════════════════════════════════════════════════════════════
+    def handle_param_request(self, request, response):
+        """
+        處理參數讀取請求
+        
+        MAVLink 參數協議：
+        - PARAM_REQUEST_READ (ID=20): 請求讀取參數
+        - PARAM_VALUE (ID=22): 參數值回應
+        - PARAM_SET (ID=23): 設置參數值
+        
+        ═══════════════════════════════════════════════════════════════════
+        【使用 mavlinkObject 回應機制的步驟】
+        
+        1. 設置回應訊息類型：
+           self.mavlink_analyzer.set_return_message_types([22])  # PARAM_VALUE
+           
+        2. 發送請求封包：
+           message_bytes = ... # 組裝 PARAM_REQUEST_READ
+           self.mavlink_analyzer.send_message(
+               message_bytes,
+               target_sysid=1
+           )
+           
+        3. 監聽回應（在獨立線程或定時器中）：
+           from ..fc_network_adapter import mavlinkObject as mo
+           
+           # 等待回應（帶超時）
+           timeout = 3.0
+           start_time = time.time()
+           while time.time() - start_time < timeout:
+               items = mo.return_packet_ring.get_all()
+               for socket_id, timestamp, msg in items:
+                   if msg.get_type() == 'PARAM_VALUE':
+                       # 找到回應！
+                       param_id = msg.param_id
+                       param_value = msg.param_value
+                       # 處理回應...
+                       return
+               time.sleep(0.01)  # 短暫等待
+           
+           # 超時處理
+           
+        4. 清理（可選）：
+           self.mavlink_analyzer.set_return_message_types([])  # 清空
+           mo.return_packet_ring.clear()  # 清空緩衝區
+        
+        注意事項：
+        - return_packet_ring 是全域的，所有 mavlink_object 共用
+        - 需要通過 socket_id 或 sysid 來識別回應來源
+        - 實際使用時建議實現專門的回應管理器
+        ═══════════════════════════════════════════════════════════════════
+        
+        Args:
+            request: Trigger.Request
+            response: Trigger.Response
+            
+        Returns:
+            response: 填充後的回應
+        """
+        logger.info("Received param_request")
+        
+        if self.mavlink_analyzer is None:
+            response.success = False
+            response.message = "Error: mavlink_analyzer not set"
+            return response
+        
+        # TODO: 實際實現
+        # 1. 從 request 解析參數名稱或索引
+        # 2. 設置 mavlink_analyzer.set_return_message_types([22])  # PARAM_VALUE
+        # 3. 發送 PARAM_REQUEST_READ
+        # 4. 監聽 return_packet_ring，等待 PARAM_VALUE
+        # 5. 解析回應並填充到 response
+        
+        response.success = True
+        response.message = "Param request sent (placeholder implementation)"
+        return response
+    
+    # ═══════════════════════════════════════════════════════════════════════
+    # 【新增 Service 位置 4/4】
+    # 若要新增 service，請在此處添加新的 handler 方法
+    # 並在 __init__ 中創建對應的 service server
+    # ═══════════════════════════════════════════════════════════════════════
     
     def stop(self):
         """停止服務"""
-        # logger.info("MavlinkCommandService stopped")
+        self.running = False
+        logger.info("MavlinkCommandService stopped")
 
 
 # ============================================================================

src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py

@@ -323,7 +323,7 @@ class VehicleView:
         """
         if component_id not in self.components:
             self.components[component_id] = VehicleComponent(component_id, comp_type)
-            # logger.info(f"Added component {component_id} to system {self.sysid}")
+            # logger.debug(f"Added component {component_id} to system {self.sysid}")
         return self.components[component_id]
     
     def get_component(self, component_id: int) -> Optional[VehicleComponent]:
@@ -334,7 +334,7 @@ class VehicleView:
         """移除組件"""
         if component_id in self.components:
             del self.components[component_id]
-            # logger.info(f"Removed component {component_id} from system {self.sysid}")
+            # logger.debug(f"Removed component {component_id} from system {self.sysid}")
             return True
         return False
 

src/unitdev02/unitdev02/devnote.txt

@@ -0,0 +1,35 @@
+備選需要的功能
+ - serail 對於 telemetry 的支援
+ - serial_manager.serial_object.transport 這些變數可能不需要
+
+不用動
+ - mavlink_object 的 send_message 確認一下 mavlink_bridge 的 _send_to_socket 是不是應該做成 async
+ - 不同 socket 上面有重複的 sysid 分開儲存 (不做 不允許sysid重複) 
+
+這一步
+ 研究 ros2 service
+
+下一步
+
+下下一步
+ 
+
+後面
+ rssi 資訊提取s
+
+
+
+自己的常用指令
+python -m fc_network_adapter.tests.test_vehicleStatusPublisher
+python -m fc_network_adapter.tests.test_ringBuffer
+
+ros2 topic list
+ros2 topic echo 
+
+
+/home/picars/ardupilot/build/sitl/bin/arducopter -S --model + --speedup 1 --slave 0 --defaults /home/picars/ardupilot/Tools/autotest/default_params/copter.parm --sim-address=127.0.0.1 -I3 --sysid 7
+
+mavproxy.py --master=tcp:127.0.0.1:5790 --out=udp:127.0.0.1:14560
+
+
+

src/unitdev02/unitdev02/sslChech.sh

@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# 網站清單
+DOMAINS=("google.com" "smarter.nchu.edu.tw")
+
+echo "網站 SSL 憑證剩餘天數："
+echo "---------------------------"
+
+for domain in "${DOMAINS[@]}"; do
+    end_date=$(echo | openssl s_client -servername "$domain" -connect "$domain:443" 2>/dev/null |
+        openssl x509 -noout -enddate | cut -d= -f2)
+
+    end_timestamp=$(date -d "$end_date" +%s)
+    now_timestamp=$(date +%s)
+
+    remaining_days=$(( (end_timestamp - now_timestamp) / 86400 ))
+
+    if [ $remaining_days -lt 0 ]; then
+        status="已過期 ❌"
+    elif [ $remaining_days -lt 15 ]; then
+        status="即將到期 ⚠️"
+    else
+        status="正常 ✅"
+    fi
+
+    printf "%-20s 到期日：%-25s 剩餘天數：%3d 天 %s\n" "$domain" "$end_date" "$remaining_days" "$status"
+done