commit to merge

serial port 功能已驗證

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -37,7 +37,8 @@ class PanelState:
         self.mavlink_bridge_state = "Stopped"
         self.object_manager_state = "Stopped"
         self.serial_manager_state = "Stopped"
-        self.socket_object_list = []
+        self.socket_object_list = [] # 已有的 mavlink object 
+        self.linked_serial_dict = {} # 已連線的 serial 端口
         self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息 
 
         # 這邊是儲存關於 socket object 的資料
@@ -128,6 +129,8 @@ class ControlPanel:
         
         return user_input
 
+# ================ 關於 mavlink object 的部份 =================== 
+
     def create_object_list_menu(self, state: PanelState, page=0, items_per_page=8):
         """動態創建 mavlink_object 列表選單（支持分頁）"""
         children = []
@@ -156,55 +159,6 @@ class ControlPanel:
                     child.socket_id = socket_id
                 children.append(obj_menu)
 
-            # 添加分頁控制
-            if total_pages > 1:
-                children.append(MenuNode("---", "---", None))
-                if page > 0:
-                    prev_node = MenuNode("◀ 上一頁", f"第 {page}/{total_pages} 頁", "PREV_PAGE")
-                    prev_node.page = page - 1
-                    children.append(prev_node)
-                if page < total_pages - 1:
-                    next_node = MenuNode("下一頁 ▶", f"第 {page + 2}/{total_pages} 頁", "NEXT_PAGE")
-                    next_node.page = page + 1
-                    children.append(next_node)
-        
-        children.append(MenuNode("返回", "回到上層選單", "BACK"))
-        menu = MenuNode("Object List", f"連結口列表 (第 {page + 1} 頁)", children=children)
-        menu.current_page = page
-        return menu
-
-    def create_serial_port_menu(self, state: PanelState, page=0, items_per_page=8):
-        """動態創建 serial port 列表選單（支持分頁）"""
-        children = []
-        
-        # 獲取可用的 Serial 連接埠列表
-        # serial_ports = acquireSerial.get_serial_ports() # debug 全部抓一抓
-        serial_ports = acquireSerial.get_serial_ports_with_filter('/dev/ttyUSB*')
-        
-        if not serial_ports:
-            children.append(MenuNode("(空)", "目前沒有串口設備", None))
-        else:
-            total_items = len(serial_ports)
-            total_pages = (total_items + items_per_page - 1) // items_per_page
-            start_idx = page * items_per_page
-            end_idx = min(start_idx + items_per_page, total_items)
-            
-            # 顯示當前頁的串口
-            for port in serial_ports[start_idx:end_idx]:
-                port_menu = MenuNode(f"{port}", children=[
-                    MenuNode("Set Comm Type", "設定通訊形態", "SET_SERIAL_COMM", children=[
-                        MenuNode("XBee(API-AT)", "XBee 模式", "SET_SERIAL_COMM_XBEE"),
-                        # MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
-                    ]),
-                    MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
-                    MenuNode("Create", "建立此串口", "CREATE_SERIAL_PORT"),
-                    MenuNode("返回", "回到列表", "BACK"),
-                ])
-                # 將 port 附加到每個子選單項目上
-                for child in port_menu.children:
-                    child.port = port
-                children.append(port_menu)
-            
             # 添加分頁控制
             if total_pages > 1:
                 children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
@@ -218,7 +172,7 @@ class ControlPanel:
                     children.append(next_node)
 
         children.append(MenuNode("返回", "回到上層選單", "BACK"))
-        menu = MenuNode("Serial Port List", f"串口列表 (第 {page + 1} 頁)", children=children)
+        menu = MenuNode("Object List", f"連結口列表 (第 {page + 1} 頁)", children=children)
         menu.current_page = page
         return menu
 
@@ -320,6 +274,106 @@ class ControlPanel:
                 stdscr.refresh()
                 return None
 
+# ================ 關於 serial link 的部份 ===================
+
+    def create_serial_port_menu(self, state: PanelState, page=0, items_per_page=8):
+        """動態創建 serial port 列表選單（支持分頁）"""
+        children = []
+        
+        # 獲取可用的 Serial 連接埠列表
+        # serial_ports = acquireSerial.get_serial_ports() # debug 全部抓一抓
+        serial_ports = acquireSerial.get_serial_ports_with_filter('/dev/ttyUSB*')
+        
+        if not serial_ports:
+            children.append(MenuNode("(空)", "目前沒有串口設備", None))
+        else:
+            total_items = len(serial_ports)
+            total_pages = (total_items + items_per_page - 1) // items_per_page
+            start_idx = page * items_per_page
+            end_idx = min(start_idx + items_per_page, total_items)
+            
+            # 顯示當前頁的串口
+            for port in serial_ports[start_idx:end_idx]:
+                port_menu = MenuNode(f"{port}", children=[
+                    MenuNode("Set Comm Type", "設定通訊形態", "SET_SERIAL_COMM", children=[
+                        MenuNode("XBee(API-AT)", "XBee 模式", "SET_SERIAL_COMM_XBEE"),
+                        # MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
+                    ]),
+                    MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
+                    MenuNode("Create", "建立此串口", "CREATE_SERIAL_PORT"),
+                    MenuNode("返回", "回到列表", "BACK"),
+                ])
+                # 將 port 附加到每個子選單項目上
+                for child in port_menu.children:
+                    child.port = port
+                children.append(port_menu)
+            
+            # 添加分頁控制
+            if total_pages > 1:
+                children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
+                if page > 0:
+                    prev_node = MenuNode("◀ Prev", "上頁", "PREV_PAGE")
+                    prev_node.page = page - 1
+                    children.append(prev_node)
+                if page < total_pages - 1:
+                    next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
+                    next_node.page = page + 1
+                    children.append(next_node)
+        
+        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        menu = MenuNode("Serial Port List", f"串口列表 (第 {page + 1} 頁)", children=children)
+        menu.current_page = page
+        return menu
+
+    def create_linked_serial_menu(self, state: PanelState, page=0, items_per_page=8):
+        """動態創建 已連線的 serial port 列表選單（支持分頁）並包含後續管理功能"""
+        children = []
+        
+        if not state.linked_serial_dict:
+            children.append(MenuNode("(空)", "目前沒有連結口", None))
+        else:
+            total_items = len(state.linked_serial_dict)
+            total_pages = (total_items + items_per_page - 1) // items_per_page
+            start_idx = page * items_per_page
+            end_idx = min(start_idx + items_per_page, total_items)
+            
+            # 顯示當前頁的物件
+            linked_serial_id_list = list(state.linked_serial_dict.keys())
+            for serial_id in linked_serial_id_list[start_idx:end_idx]:
+                # 為每個 socket 創建子選單
+                obj_menu = MenuNode(f"Serial #{serial_id}", f"連結口 {serial_id}", None, children=[
+                    MenuNode("Info", "查看詳細資訊", "INSPECT_LINKED_SERIAL"),
+                    MenuNode("Remove", "移除此連結口", "REMOVE_LINKED_SERIAL"),
+                    # MenuNode("Change UDP Target", "變更目標 UDP (工程)", "CHANGE_LINKED_SERIAL_TARGET"),
+                    MenuNode("返回", "回到列表", "BACK"),
+                ])
+                # 將 serial_id 附加到每個子選單項目上
+                for child in obj_menu.children:
+                    child.serial_id = serial_id
+                children.append(obj_menu)
+            
+            # 添加分頁控制
+            if total_pages > 1:
+                children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
+                if page > 0:
+                    prev_node = MenuNode("◀ Prev", "上頁", "PREV_PAGE")
+                    prev_node.page = page - 1
+                    children.append(prev_node)
+                if page < total_pages - 1:
+                    next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
+                    next_node.page = page + 1
+                    children.append(next_node)
+        
+        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        menu = MenuNode("Linked Serial List", f"連結口列表 (第 {page + 1} 頁)", children=children)
+        menu.current_page = page
+        return menu
+
+    def show_linked_serial_info(self):
+        pass
+
+# ================ 關於 主要選單 的部份 ===================
+
     def menu_tree(self):
         """建立多層選單結構"""
         return MenuNode("Main Menu", children=[
@@ -604,6 +658,11 @@ class ControlPanel:
                         menu_stack.append(created_list_menu)
                         idx_stack.append(0)
 
+                    elif selected.action == "LIST_SERIAL_LINKS":
+                        created_list_menu = self.create_linked_serial_menu(state, page=0)
+                        menu_stack.append(created_list_menu)
+                        idx_stack.append(0)                        
+                    
                     elif selected.action == "LIST_MAV_OBJECT":
                         # 動態生成 mavlink_object 列表選單
                         created_list_menu = self.create_object_list_menu(state, page=0)
@@ -621,6 +680,8 @@ class ControlPanel:
                                 created_list_menu = self.create_serial_port_menu(state, page=selected.page)
                             elif current_list_menu.name == "Object List":
                                 created_list_menu = self.create_object_list_menu(state, page=selected.page)
+                            elif current_list_menu.name == "Linked Serial List":
+                                created_list_menu = self.create_linked_serial_menu(state, page=selected.page)
                             else:
                                 # 不支援的選單類型，回到原本的選單
                                 menu_stack.append(current_list_menu)
@@ -763,6 +824,9 @@ class Orchestrator:
                 else:
                     self.panelState.serial_manager_state = 'Stopped'
 
+                linked_serial_dict = self.plumber.get_serial_link()
+                self.panelState.linked_serial_dict = linked_serial_dict
+
                 # 取出面板丟過來的「動作」
                 try:
                     cmd = self.cmd_q.get_nowait()

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -473,7 +473,6 @@ class serial_manager:
             logger.error(f"Failed to create serial link for {serial_port}: {e}")
             return False
 
-
     async def _async_create_serial_link(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
         """在事件循環線程中執行實際的連接創建"""
         try:
@@ -579,6 +578,12 @@ class serial_manager:
             logger.error(f"Exception in _async_remove_serial_link for {serial_id}: {str(e)}")
             return False
 
+    def get_serial_link(self):
+        ret = {} # serial id num : serial_port string
+        for key, obj in self.serial_objects.items():
+            ret[key] = obj.serial_port
+        return ret
+
     @staticmethod
     def check_serial_port(serial_port, baudrate):
         """檢查串口是否存在與可用"""
@@ -619,5 +624,8 @@ if __name__ == '__main__':
     UDP_REMOTE_PORT = 14571
     sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialReceiverType.XBEEAPI2AT)
 
+    linked_serial = sm.get_serial_link()
+    print(linked_serial)
+
     time.sleep(10)
     sm.shutdown()