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chiyu1468
2026-08-10 14:09:23 +08:00
parent 99e42dd996
commit 6aa37ed7eb
2 changed files with 113 additions and 40 deletions
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src/fc_network_adapter/fc_network_adapter/serialManager.py
+32 -12
View File
@@ -81,6 +81,16 @@ class FrameProcessor(ABC):
def __init__(self):
self.buffer = bytearray()
N = 10
self.tx_interval_bytes: deque[int] = deque([0] * N,maxlen=N)
self.tx_interval_rate: deque[float] = deque([0] * N,maxlen=N)
self.tx_record_byte: int = 0
self.tx_record_time = time.time()
self.rx_interval_bytes: deque[int] = deque([0] * N, maxlen=N)
self.rx_interval_rate: deque[float] = deque([0] * N,maxlen=N)
self.rx_record_byte: int = 0
self.rx_record_time = time.time()
@abstractmethod
def process_incoming(self, data: bytes) -> bytes:
@@ -101,17 +111,6 @@ class FrameProcessor(ABC):
class RawFrameProcessor(FrameProcessor):
"""原始數據直通處理器"""
def __init__(self):
N = 10
self.tx_interval_bytes: deque[int] = deque([0] * N,maxlen=N)
self.tx_interval_rate: deque[float] = deque([0] * N,maxlen=N)
self.tx_record_byte: int = 0
self.tx_record_time = time.time()
self.rx_interval_bytes: deque[int] = deque([0] * N, maxlen=N)
self.rx_interval_rate: deque[float] = deque([0] * N,maxlen=N)
self.rx_record_byte: int = 0
self.rx_record_time = time.time()
def process_incoming(self, data: bytes) -> bytes:
"""直接返回原始數據，不進行緩衝"""
@@ -129,6 +128,7 @@ class RawFrameProcessor(FrameProcessor):
def process_outgoing(self, data: bytes) -> bytes:
"""直接返回原始數據，不進行封裝"""
interval = time.time() - self.rx_record_time
if interval >= 1:
self.rx_interval_bytes.append(self.rx_record_byte)
@@ -188,6 +188,16 @@ class XBeeFrameProcessor_Base(FrameProcessor):
# ---- 對外契約 ----
def process_incoming(self, data: bytes) -> bytes:
"""處理 XBee API 幀並提取 payload"""
interval = time.time() - self.tx_record_time
if interval >= 1:
self.tx_interval_bytes.append(self.tx_record_byte)
self.tx_interval_rate.append(self.tx_record_byte/interval)
self.tx_record_time = time.time()
self.tx_record_byte = 0
else:
self.tx_record_byte += len(data)
self.buffer.extend(data)
payloads = []
@@ -203,6 +213,16 @@ class XBeeFrameProcessor_Base(FrameProcessor):
def process_outgoing(self, data: bytes) -> bytes:
"""將數據封裝為 XBee API 傳輸幀"""
interval = time.time() - self.rx_record_time
if interval >= 1:
self.rx_interval_bytes.append(self.rx_record_byte)
self.rx_interval_rate.append(self.rx_record_byte/interval)
self.rx_record_time = time.time()
self.rx_record_byte = 0
else:
self.rx_record_byte += len(data)
return self._encapsulate(
data,
dest_addr64 = self.DEST_ADDR64_BRAODCAST,
@@ -1629,7 +1649,7 @@ if __name__ == '__main__':
serial_id = 1
processor = sm.get_espv1_processor(serial_id)
if processor is None:
return
sys.exit(1)
# for x in range(10):
# processor.request_discovery()
src/unitdev02/unitdev02/udptest8.py
+81 -28
View File
@@ -26,8 +26,9 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
#
# 封包格式：
# GCS -> UAV:
# DISC
# POLL + target_sysid(1) + grant_bytes(2)
# DISC broadcast
# POLL + target_sysid(1) + grant_bytes(2) unicast if src64 known
# COMM / RTK downlink bytes broadcast
#
# UAV -> GCS:
# HELO + sysid(1)
@@ -37,19 +38,33 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
# ================= 多組設備設定 =================
CONFIGS = [
{"serial_port": "/dev/ttyUSB0", "udp_port": 14551},
{"serial_port": "COM15", "udp_port": 14590},
{"serial_port": "/dev/ttyUSB2", "udp_port": 14553},
{"serial_port": "/dev/ttyUSB3", "udp_port": 14554},
# udp_output_port：
# UAV MAVLink 上行資料會由 udptest 轉送到這個 UDP port 給 Mission Planner / MAVProxy。
# RTK / COMM 下行輸入 port 會自動使用 udp_output_port + COMM_LISTEN_PORT_OFFSET。
{"serial_port": "/dev/ttyUSB0", "udp_output_port": 14551},
{"serial_port": "COM15", "udp_output_port": 14590},
{"serial_port": "/dev/ttyUSB2", "udp_output_port": 14553},
{"serial_port": "/dev/ttyUSB3", "udp_output_port": 14554},
]
SERIAL_BAUDRATE = 115200
UDP_REMOTE_IP = '127.0.0.1'
UDP_LISTEN_FIXED_PORT = False
# COMM / RTK 下行使用固定 UDP port 接收，避免 Mission Planner 的 UDP output port 被佔用。
# 例如 COM15 預設：
# Mission Planner / MAVProxy listen : udp_output_port = 14590
# RTK / COMM input to udptest : 14590 + 1000 = 15590
COMM_LISTEN_PORT_OFFSET = 1000
TARGET_ADDR64 = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'
# COMM / RTK 下行固定走 broadcast。
# POLL 仍由 get_poll_dest_addr64() 決定 unicast / fallback broadcast。
COMM_BROADCAST_ADDR64 = TARGET_ADDR64
COMM_QUEUE_FLUSH_BYTES = 150
COMM_MAX_PAYLOAD = 80
COMM_CHUNK_GAP_SEC = 0.01
INITIAL_ACTIVE_SYSIDS = []
ACTIVE_SYSIDS = list(INITIAL_ACTIVE_SYSIDS)
@@ -127,6 +142,19 @@ def format_addr64(addr):
return ''.join(f'{b:02X}' for b in addr)
def get_udp_output_port(config):
"""UAV uplink MAVLink 轉送給 Mission Planner / MAVProxy 的 UDP output port。"""
return config.get('udp_output_port', config.get('udp_port'))
def get_comm_listen_port(config):
"""
RTK / COMM 下行資料進入 udptest 的固定 UDP input port。
由 udp_output_port 自動推算，避免每組 CONFIG 重複手寫。
"""
return get_udp_output_port(config) + COMM_LISTEN_PORT_OFFSET
def ensure_active_sysid(sysid):
if sysid is None:
return
@@ -317,7 +345,7 @@ class SerialToUDP(asyncio.Protocol):
self.udp_protocol = udp_protocol
self.serial_port = serial_port
self.buffer = bytearray()
self.gcs_tx_queue = bytearray()
self.comm_tx_queue = bytearray()
self.transport = None
self.current_poll_sysid = None
@@ -484,29 +512,46 @@ class SerialToUDP(asyncio.Protocol):
record_rssi(sysid, rssi_value, src64=src64)
def write_to_serial(self, data):
self.gcs_tx_queue.extend(data)
"""
UDPHandler 收到 RTK / COMM 下行資料後會呼叫這裡。
注意：這不是 TDMA POLL，不做 sysid 分流；一律排入 COMM broadcast queue。
"""
self.queue_comm_broadcast(data)
def queue_comm_broadcast(self, data):
"""COMM / RTK 下行資料佇列；後續用 XBee FFFF broadcast 送給所有 UAV。"""
self.comm_tx_queue.extend(data)
def flush_gcs_queue(self):
if not self.gcs_tx_queue:
"""相容舊呼叫名稱；實際執行 COMM broadcast queue flush。"""
self.flush_comm_broadcast_queue()
def flush_comm_broadcast_queue(self):
if not self.comm_tx_queue:
return
send_limit = min(len(self.gcs_tx_queue), 150)
data_to_send = self.gcs_tx_queue[:send_limit]
self.gcs_tx_queue = self.gcs_tx_queue[send_limit:]
asyncio.create_task(self._async_send_chunks(data_to_send))
send_limit = min(len(self.comm_tx_queue), COMM_QUEUE_FLUSH_BYTES)
data_to_send = self.comm_tx_queue[:send_limit]
self.comm_tx_queue = self.comm_tx_queue[send_limit:]
asyncio.create_task(self._async_send_comm_broadcast_chunks(data_to_send))
async def _async_send_chunks(self, data):
async def _async_send_comm_broadcast_chunks(self, data):
"""
COMM / RTK broadcast path：
- XBee dest64 固定為 FFFF broadcast
- 不使用 learned_sysid_to_addr64
- 不影響 send_poll() 的 unicast POLL path
"""
try:
max_payload = 80
sent_len = 0
while sent_len < len(data):
end_len = min(sent_len + max_payload, len(data))
end_len = min(sent_len + COMM_MAX_PAYLOAD, len(data))
chunk = data[sent_len:end_len]
sent_len = end_len
api_frame = build_api_tx_frame(chunk, TARGET_ADDR64, 0x00)
api_frame = build_api_tx_frame(chunk, COMM_BROADCAST_ADDR64, 0x00)
self.transport.write(api_frame)
await asyncio.sleep(0.01)
await asyncio.sleep(COMM_CHUNK_GAP_SEC)
except Exception:
pass
@@ -516,8 +561,8 @@ class SerialToUDP(asyncio.Protocol):
# =========================================================
class UDPHandler(asyncio.DatagramProtocol):
def __init__(self, udp_port):
self.udp_port = udp_port
def __init__(self, udp_output_port):
self.udp_output_port = udp_output_port
self.serial_transport = None
self.transport = None
self.mav_decoder = mavutil.mavlink.MAVLink(None)
@@ -529,6 +574,7 @@ class UDPHandler(asyncio.DatagramProtocol):
self.serial_transport = serial_transport
def datagram_received(self, data, addr):
# 固定 UDP input 收到 RTK / COMM，下行一律走 XBee broadcast。
if self.serial_transport:
self.serial_transport.write_to_serial(data)
@@ -606,7 +652,7 @@ class UDPHandler(asyncio.DatagramProtocol):
pass
if self.transport:
self.transport.sendto(rf_data, (UDP_REMOTE_IP, self.udp_port))
self.transport.sendto(rf_data, (UDP_REMOTE_IP, self.udp_output_port))
return None
@@ -616,7 +662,9 @@ class UDPHandler(asyncio.DatagramProtocol):
# =========================================================
async def setup_bridge(config):
port, udp = config['serial_port'], config['udp_port']
port = config['serial_port']
udp_output_port = get_udp_output_port(config)
comm_listen_port = get_comm_listen_port(config)
try:
ser = serial.Serial(port, SERIAL_BAUDRATE)
@@ -626,10 +674,14 @@ async def setup_bridge(config):
return None
loop = asyncio.get_running_loop()
udp_handler = UDPHandler(udp)
udp_handler = UDPHandler(udp_output_port)
local_port = udp if UDP_LISTEN_FIXED_PORT else 0
await loop.create_datagram_endpoint(lambda: udp_handler, local_addr=('0.0.0.0', local_port))
await loop.create_datagram_endpoint(
lambda: udp_handler,
local_addr=('0.0.0.0', comm_listen_port)
)
print(f"[{port}] UDP output -> {UDP_REMOTE_IP}:{udp_output_port}, COMM input <- 0.0.0.0:{comm_listen_port}")
serial_proto = SerialToUDP(udp_handler, port)
await serial_asyncio.create_serial_connection(loop, lambda: serial_proto, port, baudrate=SERIAL_BAUDRATE)
@@ -677,9 +729,10 @@ async def tdma_scheduler(serial_protocols):
tdma_done_events[sysid] = asyncio.Event()
while True:
# COMM / RTK 下行 broadcast queue；與 POLL unicast path 分開
for sp in serial_protocols:
if hasattr(sp, 'flush_gcs_queue'):
sp.flush_gcs_queue()
if hasattr(sp, 'flush_comm_broadcast_queue'):
sp.flush_comm_broadcast_queue()
await asyncio.sleep(current_guard_ms / 1000.0)