node重啟功能 與 定義檔優化

---
(Adding)
1. mavlinkROS2Nodes.py 各別 node 重啟的功能
2.  mainRochestrator.py 開發對應介面
(modify)
 1. 定義檔優化 移除 ackEnum.py 新增 ServiceAckResult.msg

README.md

@@ -2,9 +2,15 @@
 
 ===
 ## 功能簡介
-1. mavlink 多對多支援平台
+1. mavlink 多對多串流與交換
-2. 不允許進到 ros 系統有相同 sysid
+2. 支援 xbee 與 telemetry
-3. 假設一台載具上所有 component 共用同一 socket
+3. 支援 udp 管理
+4. ROS2 介面監控載具
+
+===
+使用限制
+1. 不允許進到 ros 系統有相同 sysid
+2. 假設一台載具上所有 component 共用同一 socket
 
 ===
 ## 運行環境

src/fc_interfaces/CMakeLists.txt

@@ -14,6 +14,7 @@ find_package(builtin_interfaces REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AttitudeRaw.msg"
   "msg/GnssRaw.msg"
+  "msg/ServiceAckResult.msg"
   "srv/MavPing.srv"
   "srv/MavCommandLong.srv"
   "srv/MavPositionTargetGlobalInt.srv"

src/fc_interfaces/msg/ServiceAckResult.msg

@@ -0,0 +1,43 @@
+# ServiceAckResult.msg
+# ACK code definition for command-like service responses.
+# 這邊只是定義常數的檔案
+#
+# Design:
+# - 0~10   : MAVLink MAV_RESULT compatible range (autopilot/firmware ACK) 大多不會用到 直接吃飛控回傳值
+# - 50~89  : System-level ACK codes (local bridge/orchestrator status)
+# - 90~99  : Unknown/reserved fallback
+#
+# Rule:
+# - If FC ACK is received, return MAV_RESULT_* code.
+# - If FC ACK is not reachable / local pipeline failed, return SYS_* code.
+
+# ---- MAVLink MAV_RESULT (standard) ---- 詳細請自行去網路找 mavlink MAV_RESULT 
+uint8 MAV_RESULT_ACCEPTED=0             # 封包正常接受並執行
+uint8 MAV_RESULT_TEMPORARILY_REJECTED=1 # 封包正常接受 但是飛控很忙 不執行 需要等待後重試
+uint8 MAV_RESULT_DENIED=2               # 封包不正常 參數可能給錯了
+uint8 MAV_RESULT_UNSUPPORTED=3          # 封包不正常 根本認不出是啥
+uint8 MAV_RESULT_FAILED=4               # 封包正常接受 但是載具的狀態異常 不執行
+uint8 MAV_RESULT_IN_PROGRESS=5
+uint8 MAV_RESULT_CANCELLED=6
+uint8 MAV_RESULT_COMMAND_LONG_ONLY=7
+uint8 MAV_RESULT_COMMAND_INT_ONLY=8
+uint8 MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME=9
+uint8 MAV_RESULT_NOT_IN_CONTROL=10
+
+# ---- System-level result codes (custom) ----
+# 50 : 有接到預期的封包 但是訊息建議再確認
+# 51 : some messages will not have obviously ack, so monitering feature message. however, we do NOT get the feature message. ex. 85/86 pair 
+# 
+# 52 : mavlink communication timeout 可能是通訊丟包了
+# 53 : there already has a command being execution for this sysid, try later
+# 54 : this sysid is not found
+
+uint8 FCSYS_GET_EXPECTED_FEEDBACK=50
+uint8 FCSYS_NO_EXPECTED_FEEDBACK=51
+uint8 FCSYS_MAVLINK_TIMEOUT=52
+uint8 FCSYS_BUSY=53
+uint8 FCSYS_DEVICE_NOT_FOUND=54
+
+
+# ---- Fallback ----
+uint8 FCSYS_UNKNOWN=90

src/fc_network_adapter/fc_network_adapter/ackEnum.py

@@ -1,31 +0,0 @@
-
-'''
-單獨出來定義回傳碼的意義
-若跟飛控韌體有正常的通訊 (無論是否被拒絕) 則以 mavlink 定義的結果回傳
-若跟飛控韌體無法通訊 才使用這邊的錯誤代碼
-所以要避開重疊的號碼
-
-這邊備註 Mavlink 的 MAV_RESULT 參數意義
-0 : 封包正常接受並執行
-1 : 封包正常接受 但是正在忙不執行 需要等待後重試
-4 : 封包正常接受 但是載具的狀態異常 不執行
-
-2 : 封包不正常 參數可能給錯了
-3 : 封包不正常 根本認不出是啥
-
-'''
-
-
-from enum import IntEnum
-
-class serviceAckResult(IntEnum):
-    MAVLINK_TIMEOUT = 51 # mavlink communication timeout
-
-    MAVLINK_SEND_BUT_NO_EXP_STEAM = 30 # some messages will not have obviously ack, so monitering feature message. however, we do NOT get the feature message. ex. 85/86 pair 
-
-    MAVLINK_BUSY = 53 # there already has a command being execution for this sysid, try later
-    MAVLINK_DEV_NOTFOUND = 54 # this sysid not fount
-
-    UNKNOWN = 90 # i did not capture this error, try read the logs
-
-

src/fc_network_adapter/fc_network_adapter/fc_network_adapter.md

@@ -37,6 +37,7 @@
 - *self.bridge* 存放 mavlink_bridge 實例 
 - *self.plumber* 存放 serial_manager 實例
 - *self.vehicle_registry* 存放 vehicle_registry 實例
+- *self.fc_ros_manager* 存放 fc_ros_manager 實例 
 
 - *self.panel_thread* 面板的執行緒
 - *self.panelState* 暫存面板與調配者互動的資料流動區
@@ -240,8 +241,14 @@
 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 (基礎框架)
+        - GNSS (alt lan fix_type epv eph)
+        - attitude position_ned (pitch yaw row local_position)
+        - battery
     b. ros2 service 應用開發介面 (基礎框架)
-11. RTCM 轉發 - 訂閱 RTCM topic 轉為 MAVLink GPS_RTCM_DATA 廣播給所有載具
+    c. RTCM 轉發 - 訂閱 RTCM topic 轉為 MAVLink GPS_RTCM_DATA 廣播給所有載具
+11. ros2 topic service rtcm Node 重啟功能
+12. 可以定義 ROS_DOMAIN_ID
+
 
 ### 待開發功能
 5-1. 建立 serial 連線 並可以對接收器下達AT指令

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__))
-PROJECT_VER = "v0.70"
+PROJECT_VER = "v1.00"
 
 class PanelState:
     def __init__(self):
@@ -177,11 +177,18 @@ class ControlPanel:
                     MenuNode("New+", "新增 Serial 連接埠", action = "LIST_SERIAL_RES"),
                     MenuNode("ListAll", "顯示並管理已連線的 Serial", action = "LIST_SERIAL_LINKS"),
                 ]),
-                MenuNode("Vehicles Insp.", "檢視已連線的遠端載具", action = "INSPECT_VEHICLES"),
+                MenuNode("Vehicles Insp.", "檢視已連線的遠端載具", action = "SHOW_VEHICLES"),
                 MenuNode("Engineer Mode", "工程模式", children=[
-                    MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"),
+                    MenuNode("Stop Manager", "停止 Mavlink_Object 管理", "STOP_MANAGER"),
                     MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"),
-                    MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"),
+                    MenuNode("Stop Serial M.", "停止 Serial 端口", "STOP_SERIAL_MANAGER"),
+                    MenuNode("Edit ROS Nodes", "管理 ROS NODE", children=[
+                        MenuNode("Reboot Topics", "重建 ROS Topics", "REBOOT_ROS_TOPICS"),
+                        MenuNode("Reboot Services", "重建 ROS Services", "REBOOT_ROS_SERVICES"),
+                        MenuNode("Reboot RTCM", "重建 RTK RTCM", "REBOOT_ROS_RTCM"),
+                        MenuNode("Stop ROS Manager", "停止 ROS 功能", "STOP_ROS_MANAGER"),
+                        MenuNode("Start ROS Manager", "啟動 ROS 功能", "START_ROS_MANAGER"),
+                    ]),
                 ]),
                 MenuNode("Shutdown", "關閉整個系統", children=[
                     MenuNode("Return", "繼續運行", "BACK"),
@@ -384,6 +391,7 @@ class ControlPanel:
                         state.intoTERMINATION()
                         pre_panel_shutdown()
 
+                    # related with -> UDP mavlink Object 
                     elif selected.action == "TEXT_UDP_IP":
                         result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ")
                         if result is not None:
@@ -412,6 +420,8 @@ class ControlPanel:
                             # menu_stack.pop()
                             # idx_stack.pop()
 
+
+                    # related with -> Serial Connection
                     elif selected.action == "TEXT_BAUD_SERIAL":
                         result = ControlPanel.input_dialog(stdscr, "請輸入 Baud Rate (e.g., 9600, 115200): ")
                         if result is not None:
@@ -477,12 +487,7 @@ class ControlPanel:
                                 menu_stack.pop()
                                 idx_stack.pop()
 
-                    elif selected.action == "LIST_MAV_OBJECT":
+                    # related with -> 列表選單
-                        # 動態生成 mavlink_object 列表選單
-                        created_list_menu = self.create_object_list_menu(state, page=0)
-                        menu_stack.append(created_list_menu)
-                        idx_stack.append(0)
-
                     elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
                         if hasattr(selected, 'page'):
                             current_list_menu = menu_stack[-1]
@@ -507,6 +512,13 @@ class ControlPanel:
                             menu_stack.append(created_list_menu)
                             idx_stack.append(0)
 
+                    # related with -> mavlink object list
+                    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)
+                        menu_stack.append(created_list_menu)
+                        idx_stack.append(0)
+
                     elif selected.action == "INSPECT_MAV_OBJECT":
                         # 顯示物件詳細資訊
                         if hasattr(selected, 'socket_id'):
@@ -551,6 +563,7 @@ class ControlPanel:
                             if target_id is not None:
                                 cmd_q.put(("MAVOBJ_ADD_TARGET", selected.socket_id, target_id))
 
+                    # related with -> Engineer Mode
                     elif selected.action == "STOP_MANAGER":
                         if state.panel_status != "Engineer":
                             state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
@@ -569,7 +582,39 @@ class ControlPanel:
                             continue  # 只有在工程模式下才能操作
                         cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
                     
-                    elif selected.action == "INSPECT_VEHICLES":
+                    elif selected.action == "STOP_ROS_MANAGER":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put("STOP_ROS_MANAGER")
+
+                    elif selected.action == "START_ROS_MANAGER":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put("START_ROS_MANAGER")
+                        
+                    
+                    elif selected.action == "REBOOT_ROS_TOPICS":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put(("RESTART_ROS_NODE", "status_publisher")) # 參照一下 mavlinkROS2Nodes.NODE_KEYS
+                    
+                    elif selected.action == "REBOOT_ROS_SERVICES":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put(("RESTART_ROS_NODE", "command_service")) # 參照一下 mavlinkROS2Nodes.NODE_KEYS
+
+                    elif selected.action == "REBOOT_ROS_RTCM":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put(("RESTART_ROS_NODE", "rtcm_relay")) # 參照一下 mavlinkROS2Nodes.NODE_KEYS
+
+                    # related with -> 進 bridge 的設備 列表
+                    elif selected.action == "SHOW_VEHICLES":
                         # 進入載具檢視選單
                         cmd_q.put("UPDATE_VEHICLES_LIST")
                         created_list_menu = self.create_vehicles_list_menu(state, page=0)
@@ -1268,6 +1313,12 @@ class Orchestrator:
                         elif action == "UNREGISTER_VEHICLE":
                             sysid = cmd[1]
                             self.vehicle_registry.unregister(sysid)
+                        elif action == "RESTART_ROS_NODE":
+                            node_key = cmd[1]
+                            if not self.fc_ros_manager.schedule_restart_node(node_key):
+                                logger.warning(
+                                    f"RESTART_ROS_NODE failed: {node_key!r}"
+                                )
 
                     elif cmd == "CREATE_UDP_INBOUND":
                         self.panelState.udp_info_temp["direction"] = "inbound"
@@ -1277,12 +1328,17 @@ class Orchestrator:
                         self.create_udp_object()
                     elif cmd == "CREATE_SERIAL_PORT":
                         self.create_serial_port_object()
+
                     elif cmd == "SHUTDOWN_BRIDGE":
                         self.bridge.stop()
                     elif cmd == "SHUTDOWN_MANAGER":
                         self.manager.shutdown()
                     elif cmd == "SHUTDOWN_SERIAL_MANAGER":
                         self.plumber.shutdown()
+                    elif cmd == "STOP_ROS_MANAGER":
+                        self.fc_ros_manager.stop()
+                    elif cmd == "START_ROS_MANAGER":
+                        self.fc_ros_manager.start()
 
                 except queue.Empty:
                     pass
@@ -1571,7 +1627,7 @@ def main():
     if mo.MODULE_VER != "1.50":
         print("Module Version Error! : mavlinkObkect")
         version_check = False
-    if mros.MODULE_VER != "1.50":
+    if mros.MODULE_VER != "2.10":
         print("Module Version Error! : mavlinkROS2Nodes")
         version_check = False
     if mvv.MODULE_VER != "1.00":
@@ -1622,4 +1678,7 @@ if __name__ == "__main__":
 2025.04.13
 1. 加入各項模組的版本先驗 檢驗失敗就直接離開
 
+2025.05.28
+1. 工程模式 新增 Node 重啟的功能
+
 '''

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -37,7 +37,7 @@ import mavros_msgs.msg
 # ROS2 Service imports
 import fc_interfaces.srv as fcsrv
 import fc_interfaces.msg as fcmsg
-from .ackEnum import serviceAckResult
+from fc_interfaces.msg import ServiceAckResult
 
 # 自定義 imports
 from . import mavlinkVehicleView as mvv
@@ -45,7 +45,10 @@ from . import mavlinkObject as mo
 from .utils import setup_logger
 
 logger = setup_logger(os.path.basename(__file__))
-MODULE_VER = "1.50"
+MODULE_VER = "2.10"
+
+FC_ROS_DOMAIN_ID = "0"
+NODE_KEYS = ("status_publisher", "command_service", "rtcm_relay")
 
 # ============================================================================
 #                       VehicleStatusPublisher Node
@@ -581,7 +584,7 @@ class MavlinkCommandService(Node):
             self.handle_set_position_target_global_int
         )
 
-        logger.info("MavlinkCommandService initialized")
+        # logger.info("MavlinkCommandService initialized")
 
     def _index(self, target_sysid, target_compid):
 
@@ -608,20 +611,19 @@ class MavlinkCommandService(Node):
         藉由 event.set() 解開 service 中的 block 
         '''
         return_tuple = mo.return_packet_ring.get()
-        # 確認 return_packet_ring 有資料
         if return_tuple == None: return
 
         socketid, timestamp, msg = return_tuple
         sysid = msg.get_srcSystem()
 
         _pending = self._pending_by_sysid.get(sysid)
-        # 確認是否有 service 在等待回應 若無直接 return 此封包也會被忽略
+        if _pending is None:
-        if _pending == None:
             return
 
         if _pending.match_fn(msg):
             _pending.result_mav_msg = msg
             _pending.event.set()
+        return
 
     # ═══════════════════════════════════════════════════════════════════════
     # Service Handler: 發送 TIMESYNC 可以作為模板
@@ -706,20 +708,20 @@ class MavlinkCommandService(Node):
         # 設定失效回應
         response.success = False
         response.message = "Unknown error"
-        response.ack_result = serviceAckResult.UNKNOWN
+        response.ack_result = ServiceAckResult.FCSYS_UNKNOWN
         timeout_sec = request.timeout_sec
 
         # 1) 確認是否已經有相同 sysid 的其他需求正在 pending
         if request.target_sysid in self._pending_by_sysid:
             response.message = f"sysid {request.target_sysid} already has pending request"
-            response.ack_result = serviceAckResult.MAVLINK_BUSY
+            response.ack_result = ServiceAckResult.FCSYS_BUSY
             return response
 
         # 2) 找到 socket 標地
         socketObject = self._index(request.target_sysid, request.target_compid)
         if socketObject is None:
             response.message = "This system id not found."
-            response.ack_result = serviceAckResult.MAVLINK_DEV_NOTFOUND
+            response.ack_result = ServiceAckResult.FCSYS_DEVICE_NOT_FOUND
             return response
 
         # 3) 接收封包系統 的設定
@@ -750,12 +752,13 @@ class MavlinkCommandService(Node):
         # 5) 等待回應封包
         if not evt.wait(timeout_sec):
             response.message = "mavlink timeout - CommLONG"
-            response.ack_result = serviceAckResult.MAVLINK_TIMEOUT
+            response.ack_result = ServiceAckResult.FCSYS_MAVLINK_TIMEOUT
             fail_skip = True
 
         # 6) 處理回應封包
         if not fail_skip:
             ack_msg = _pending.result_mav_msg
+            response.success = ServiceAckResult.FCSYS_MAVLINK_BREAK # dev 故意觸發錯誤用的
             response.success = (ack_msg.result == 0) # mavutil.mavlink.MAV_RESULT_ACCEPTED
             response.message = "" # 沒有消息就是好消息
             response.ack_result = ack_msg.result
@@ -779,20 +782,20 @@ class MavlinkCommandService(Node):
         '''
         # 設定失效回應
         response.message = "Unknown error"
-        response.ack_result = serviceAckResult.UNKNOWN
+        response.ack_result = ServiceAckResult.FCSYS_UNKNOWN
         timeout_sec = request.timeout_sec
 
         # 1) 確認是否已經有相同 sysid 的其他需求正在 pending
         if request.target_sysid in self._pending_by_sysid:
             response.message = f"sysid {request.target_sysid} already has pending request"
-            response.ack_result = serviceAckResult.MAVLINK_BUSY
+            response.ack_result = ServiceAckResult.FCSYS_BUSY
             return response
 
         # 2) 找到 socket 標地
         socketObject = self._index(request.target_sysid, request.target_compid)
         if socketObject is None:
             response.message = "This system id not found."
-            response.ack_result = serviceAckResult.MAVLINK_DEV_NOTFOUND
+            response.ack_result = ServiceAckResult.FCSYS_DEVICE_NOT_FOUND
             return response
 
         # 3) 接收封包系統 的設定
@@ -827,7 +830,7 @@ class MavlinkCommandService(Node):
         # 5) 等待回應封包
         if not evt.wait(timeout_sec):
             response.message = "mavlink timeout - SET POSITION 86"
-            response.ack_result = MAVLINK_SEND_BUT_NO_EXP_STEAM
+            response.ack_result = ServiceAckResult.FCSYS_NO_EXPECTED_FEEDBACK
             fail_skip = True
 
         # 6) 處理回應封包
@@ -835,7 +838,7 @@ class MavlinkCommandService(Node):
             ack_msg = _pending.result_mav_msg
 
             response.message = ""
-            response.ack_result = 0
+            response.ack_result = ServiceAckResult.FCSYS_GET_EXPECTED_FEEDBACK
             response.r_time_boot_ms = ack_msg.time_boot_ms 
             response.r_type_mask = ack_msg.type_mask
             response.r_lat_int = ack_msg.lat_int
@@ -952,11 +955,10 @@ class MavlinkCommandService(Node):
         return response
 
 
-
     def stop(self):
         """停止服務"""
         self.running = False
-        logger.info("MavlinkCommandService stopped")
+        # logger.info("MavlinkCommandService stopped")
 
 
 # ============================================================================
@@ -1025,7 +1027,7 @@ class RtcmRelay(Node):
             rtcm_qos,
         )
 
-        logger.info("RtcmRelay initialized")
+        # logger.info("RtcmRelay initialized")
 
     # ── callback ──────────────────────────────────────────────────────
 
@@ -1129,7 +1131,7 @@ class RtcmRelay(Node):
     def stop(self):
         """停止轉發"""
         self.running = False
-        logger.info("RtcmRelay stopped")
+        # logger.info("RtcmRelay stopped")
 
 
 # ============================================================================
@@ -1145,7 +1147,7 @@ class fc_ros_manager:
     stop 是停下止 ROS2 nodes 的運行，但不銷毀節點實例，允許後續再次 start。
     shutdown 是完全關閉 ROS2 並銷毀節點實例。
 
-    管理三個獨立的 ROS2 Node：
+    管理三個獨立的 ROS2 Node :
     - VehicleStatusPublisher
     - MavlinkCommandService
     - RtcmRelay
@@ -1156,6 +1158,9 @@ class fc_ros_manager:
     def __init__(self):
         self.initialized = False
         self.running = False
+        self._restarting = False
+        self._pending_restart: Optional[str] = None
+        self._restart_lock = threading.Lock()
         
         # node 實例
         self.status_publisher: Optional[VehicleStatusPublisher] = None
@@ -1173,7 +1178,7 @@ class fc_ros_manager:
             return False
         
         try:
-            # 初始化 ROS2
+            os.environ.setdefault("ROS_DOMAIN_ID", FC_ROS_DOMAIN_ID)
             if not rclpy.ok():
                 rclpy.init(args=None)
             
@@ -1209,6 +1214,10 @@ class fc_ros_manager:
         try:
             self.running = True
 
+            self.status_publisher.running = True
+            self.command_service.running = True
+            self.rtcm_relay.running = True
+            
             self.spin_thread = threading.Thread(
                 target=self._spin_executor,
                 daemon=True,
@@ -1224,21 +1233,102 @@ class fc_ros_manager:
             self.running = False
             return False
 
+    # 給 orchestrator 呼叫的函數
+    def schedule_restart_node(self, node_key: str) -> bool:
+        """由 orchestrator 排程單一 node 重啟（於 spin thread 下一輪執行）"""
+        if node_key not in NODE_KEYS:
+            logger.warning(f"schedule_restart_node: unknown key {node_key!r}")
+            return False
+        if not self.running:
+            logger.warning("schedule_restart_node: fc_ros_manager not running")
+            return False
+        if not self.spin_thread or not self.spin_thread.is_alive():
+            logger.warning("schedule_restart_node: spin thread not alive")
+            return False
+        with self._restart_lock:
+            self._pending_restart = node_key
+        logger.info(f"schedule_restart_node: queued {node_key}")
+        return True
+
     # 循環執行的地方
     def _spin_executor(self):
         """在 thread 中運行的 executor"""
         try:
-            # logger.info("ROS2 executor spinning...")
             while self.running:
                 self.executor.spin_once(timeout_sec=0.1)
-                self.command_service.return_router()
+
+                pending = None
+                with self._restart_lock:
+                    if self._pending_restart:
+                        pending = self._pending_restart
+                        self._pending_restart = None
+
+                if pending:
+                    self._restart_node(pending)
+                elif self.command_service and not self._restarting:
+                    self.command_service.return_router()
         except Exception as e:
             logger.error(f"fc_ros_manager error in spinning executor: {e}")
+        finally:
+            self.running = False
+
+    def _restart_node(self, node_key: str) -> bool:
+        """僅由 spin thread 呼叫 : destroy 並重建單一 node"""
+        old_node = getattr(self, node_key, None)
+        if old_node is None:
+            logger.error(f"_restart_node: {node_key} is None")
+            return False
+
+        # 重置前保留舊有或處理設定
+        saved_topic_intervals = None
+        if node_key == "status_publisher":
+            saved_topic_intervals = dict(old_node.rate_controller.topic_intervals)
+
+        # 如果是 command_service 清除所有等待的 pending 並且清除 return message 
+        if node_key == "command_service":
+            old_node._pending_by_sysid.clear()
+            for sockObj in mo.mavlink_object.mavlinkObjects.values():
+                sockObj.set_return_message_types([])
+
+        try:
+            self._restarting = True
+
+            # 停止運作 移出執行迴圈 銷毀資源
+            old_node.stop()
+            self.executor.remove_node(old_node)
+            old_node.destroy_node()
+
+            # 建立新的 node
+            if node_key == "status_publisher":
+                new_node = VehicleStatusPublisher()
+                if saved_topic_intervals is not None:
+                    new_node.rate_controller.topic_intervals = saved_topic_intervals
+            elif node_key == "command_service":
+                new_node = MavlinkCommandService()
+            elif node_key == "rtcm_relay":
+                new_node = RtcmRelay()
+            else:
+                return False
+
+            # 加回去管理系統中
+            setattr(self, node_key, new_node)
+            self.executor.add_node(new_node)
+            logger.info(f"_restart_node: {node_key} restarted")
+            return True
+        except Exception as e:
+            logger.error(f"_restart_node failed for {node_key}: {e}")
+            return False
+        finally:
+            self._restarting = False
 
     def stop(self):
         """停止 ROS2 nodes"""
-        if not self.running:
+        # if not self.running:
-            logger.warning("fc_ros_manager not running")
+        #     logger.warning("fc_ros_manager not running")
+        #     return False
+
+        if not self.spin_thread:
+            logger.warning("fc_ros_manager without thread to stop")
             return False
 
         try:            
@@ -1289,7 +1379,7 @@ class fc_ros_manager:
             except Exception as e:
                 logger.error(f"Error during shutdown: {e}")
     
-    def get_status(self) -> dict:
+    def get_status(self):
         return {
             'initialized': self.initialized,
             'running': self.running,
@@ -1299,6 +1389,12 @@ class fc_ros_manager:
         }
 
     
+
+
+        
+
+
+
 # ============================================================================
 #                              全域實例
 # ============================================================================
@@ -1331,8 +1427,13 @@ ros2_manager = fc_ros_manager()
 2. 實作過期丟棄(1s)、blake2s hash 去重、最短轉發間隔節流、分片(180 bytes/片)
 3. 接入 fc_ros_manager 的 initialize/start/stop/shutdown 生命週期
 
+2026.05.22
+1. initialize() 設定 ROS_DOMAIN_ID ( FC_ROS_DOMAIN_ID )
+2. schedule_restart_node / _restart_node : 手動重啟單一 node (spin thread 內執行）
+3. orchestrator cmd: ("RESTART_ROS_NODE", node_key), node_key 見 NODE_KEYS
+
 TODO 
 1. service 部分會需要跟 mavlinkobject 大量互動 也許需要考慮對方的生命週期
-2. 還沒測試 如果有失效狀態讓 fc_ros_manager 中斷了 如何恢復的問題
+
 '''
 

src/unitdev02/unitdev02/devnote.txt

@@ -1,32 +1,25 @@
 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
- 希望 ackEnum 可以擺到正確的位置
- node 增加 GNSS 訊息 (2d fix 3d fix rtk float...)
  RTK
-   跟 RTK2go 抓取列表
+   跟 RTK2go 抓取列表 Done
-   從特定 mount point 得到數據
+   從特定 mount point 得到數據 Done
-   做一個 ros2 service(action?) 接到數據並包裝
+   做一個 ros2 service 接到數據並包裝 
  
 
 下一步
-  NODE 重啟
+  重啟做好了 但是還沒自動化
-  可以 refresh node topic
 
 下下一步
- 
+  整合 xbee api-api 功能 
 
 後面
- rssi 資訊提取s
 
 
-mavlink timeout - CommLONG 這個是 mavlink bus 沒有回應 可能是丟包了
 
 
 自己的常用指令
@@ -39,8 +32,18 @@ python -m someotherpkg.src.example_change_mode
 
 python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p mountpoint:=No1bio_02 -p username:=chiyu1468@hotmail.com
 
+python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p host:=210.241.63.193 -p port:=81 -p mountpoint:=2020_GNSS -p username:=uavlab6061 -p password:=iamsupersmart
+
+export ROS_DOMAIN_ID=13
+ros2 daemon stop
+ros2 daemon start
+
 ros2 topic list
 ros2 topic echo /fc_network/vehicle/sys3/battery
+ros2 topic echo hz /fc_network/vehicle/sys3/battery
+
+ros2 topic bw /fc_network/vehicle/sys3/attitude
+ros2 topic hz /fc_network/vehicle/sys3/attitude
 
 
 /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
@@ -51,7 +54,7 @@ ros2 service call /mavlink/add_two_ints example_interfaces/srv/AddTwoInts "{a: 5
 ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}"
 
 ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, param3: 0,param4: 0,param5: 0,param6: 0,param7: 0, timeout_sec: 2}"
-ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, timeout_sec: 2}"
+ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 10, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, timeout_sec: 2}"
 
 ros2 service call /fc_network/vehicle/pos_global_int fc_interfaces/srv/MavPositionTargetGlobalInt "{target_sysid: 3, target_compid: 1, coordinate_frame: 6, type_mask: 3576, lat_int: -35376655, lon_int: 149157011, alt: 20.0, timeout_sec: 5.0}"
 
@@ -60,10 +63,4 @@ sudo tcpdump -i lo 'udp dst port 14561' -X
 sudo tcpdump -i lo 'udp dst port 14550' -X -vv
 sudo tcpdump -i lo -X udp port 14550
 
-幾個要討論的
+
-1. 專案文件中 .mat 檔案是幹嘛的?
-2. GUI 的 print [Panel/Map Update] 11 Hz 希望關閉
-3. readme 那串文字來源? 用途?
-4. GUI介面 加一下海拔高 跟 相對高 速度跟位置 變更為 XY速度 XY位置
-5. pitch yaw roll 出來了 弄一下
-6.