1. 新增 serial_udp_bitrans.py 該程式連結 serial 的封包 經過轉換後 再向 udp 口丟出 (反之亦然)

2. 其餘檔案只是 名稱與註解修正

src/unitdev02/unitdev02/server.py

@@ -1,33 +0,0 @@
-import socket
-import os
-
-# socket file path
-SOCKET_PATH = "/tmp/unix_socket_example"
-
-# 若檔案存在就先刪除
-if os.path.exists(SOCKET_PATH):
-    os.remove(SOCKET_PATH)
-
-# 建立 socket
-server = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
-
-# 綁定 socket 到檔案
-server.bind(SOCKET_PATH)
-server.listen(1)
-
-print("🔌 Server waiting for connection...")
-
-# 等待 client 連線
-conn, _ = server.accept()
-print("✅ Client connected.")
-
-while True:
-    data = conn.recv(1024)
-    if not data:
-        break
-    print("📥 Received:", data.decode())
-    conn.sendall(b"Echo: " + data)
-
-conn.close()
-server.close()
-os.remove(SOCKET_PATH)

src/unitdev02/unitdev02/unix_server.py

@@ -0,0 +1,94 @@
+import socket
+import os
+
+# # socket file path
+# SOCKET_PATH = "/tmp/unix_socket_example"
+
+# # 若檔案存在就先刪除
+# if os.path.exists(SOCKET_PATH):
+#     os.remove(SOCKET_PATH)
+
+# # 建立 socket
+# server = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+
+# # 綁定 socket 到檔案
+# server.bind(SOCKET_PATH)
+# server.listen(1)
+
+# print("🔌 Server waiting for connection...")
+
+# # 等待 client 連線
+# conn, _ = server.accept()
+# print("✅ Client connected.")
+
+# while True:
+#     data = conn.recv(1024)
+#     if not data:
+#         break
+#     print("📥 Received:", data.decode())
+#     conn.sendall(b"Echo: " + data)
+
+# conn.close()
+# server.close()
+# os.remove(SOCKET_PATH)
+
+
+# =====================
+
+# from pymavlink import mavutil
+
+
+# def create_unix_socket_connection():
+#     # 建立一個 mavtcpin 實例
+#     mav_conn = mavutil.mavtcpin("127.0.0.250:9999", source_system=1, source_component=1)
+    
+#     # 替換底層 socket
+#     # 關閉原有的 socket
+#     mav_conn.listen.close()
+    
+#     # 創建 Unix socket 並替換
+#     unix_socket = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+#     unix_socket_path = "/tmp/unix_socket_mavlink.sock"
+    
+#     # 確保先前的 unix socket 已被移除
+#     if os.path.exists(unix_socket_path):
+#         os.remove(unix_socket_path)
+    
+#     # 綁定並設定 Unix socket
+#     unix_socket.bind(unix_socket_path)
+#     unix_socket.listen(1)
+#     unix_socket.setblocking(0)
+#     mavutil.set_close_on_exec(unix_socket.fileno())
+    
+#     # 替換 listen socket
+#     mav_conn.listen = unix_socket
+#     mav_conn.fd = unix_socket.fileno()
+
+#     # mav_conn.port = unix_socket
+
+#     return mav_conn
+
+
+# a = create_unix_socket_connection()
+
+# # print(a.port)
+
+
+
+
+# ===============================
+
+import mavunixin
+mav_conn = mavunixin.mavunixin("unix:/tmp/unix_socket_mavlink.sock", source_system=1, source_component=1)
+
+import time
+print("🔌 Server waiting for connection...")
+while True:
+    time.sleep(1)
+    mavlinkMsg = mav_conn.recv_msg()
+    if mavlinkMsg is not None:
+        print("📥 Received:", mavlinkMsg)
+        # a.send(mavlinkMsg)
+        # print("📤 Server replied:", data.decode())
+    else:
+        print("No message received.")