diff --git a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py b/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py index 99be627..3bdb19a 100644 --- a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py +++ b/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py @@ -436,7 +436,7 @@ class ControlPanel: menu_stack.pop() idx_stack.pop() elif selected.action == "SET_SERIAL_COMM_XBEE_ESP": - state.serial_info_temp["CommunicationType"] = "XBee(API-API) espv1" + state.serial_info_temp["CommunicationType"] = "XBee(API-API)espv1" menu_stack.pop() idx_stack.pop() elif selected.action == "SET_SERIAL_COMM_TELEMETRY": @@ -1600,7 +1600,7 @@ class Orchestrator: # 定義通訊類型映射表 COMM_TYPE_MAP = { "XBee(API-AT)": sm.SerialMode.XBEEAPI2AT, - "XBee(API-AT)": sm.SerialMode.XBEEAPI_espv1, + "XBee(API-API)espv1": sm.SerialMode.XBEEAPI_espv1, "TELEMETRY": sm.SerialMode.STRAIGHT, # 新增區 } diff --git a/src/fc_network_adapter/fc_network_adapter/serialManager.py b/src/fc_network_adapter/fc_network_adapter/serialManager.py index d6e538f..5327cda 100644 --- a/src/fc_network_adapter/fc_network_adapter/serialManager.py +++ b/src/fc_network_adapter/fc_network_adapter/serialManager.py @@ -231,7 +231,7 @@ class XBeeFrameProcessor_Base(FrameProcessor): def _encapsulate( data: bytes, dest_addr64: bytes = DEST_ADDR64_BRAODCAST, - dest_addr16 = DEST_ADDR16_BRAODCAST, + dest_addr16: bytes = DEST_ADDR16_BRAODCAST, frame_id: int = 0x01, ) -> bytes: """ @@ -247,6 +247,8 @@ class XBeeFrameProcessor_Base(FrameProcessor): frame += dest_addr64 + dest_addr16 frame += struct.pack(">BB", broadcast_radius, options) + data checksum = 0xFF - (sum(frame) & 0xFF) + # ret = b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum) + # logger.debug(ret.hex()) return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum) @staticmethod @@ -290,10 +292,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): MAX_PAYLOAD_PER_FRAME = 80 CHUNK_SEND_INTERVAL_SEC = 0.01 - # ADDR16 選項 - DEST_ADDR16_BRAODCAST = b'\xFF\xFF' - - DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\xFF\xFF' + class Esp32DeviceInfo: def __init__(self, system_id, address_64, last_hello_time): @@ -306,6 +305,8 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): self.last_done_time = 0.0 # 最後送出Done的時間 self.received_len = 0 # 收到封包累計 + + def __init__(self, at_handler: "ATCommandHandler" = None): super().__init__(at_handler) @@ -316,6 +317,10 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): self.operator_busy = False self.operator_running = False + # ADDR16 選項 + self.DEST_ADDR16_BRAODCAST = b'\xFF\xFE' + self.DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\xFF\xFF' + self.serial_writer: Optional[Callable[[bytes], None]] = None self.event_loop: Optional[asyncio.AbstractEventLoop] = None self.serial_baudrate = 115200 @@ -328,10 +333,10 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): self.current_poll_address_64: Optional[bytes] = None self.current_poll_time = 0 # 本次 poll 丟出的時間紀錄 - self.last_discovery_time = 0.0 # 最後做廣播 discovery 的時間 - self.last_recieve_mavlink = 0.0 # 最後收到 mavlink payload 時間 為了定義 poll-done 之間不要超時用的 - self.MAX_mavPack_interval_timeout = 100 # ms，poll 期間 MAVLink/DONE 最大閒置間隔 - self.discovery_interval_seconds = 30.0 # 每次做 discovery 程序的間隔時間 + self.last_discovery_time = 0.0 # 這個是最後做廣播 discovery 的時間 + self.last_recieve_mavlink = 0.0 # 這個是最後收到 mavlink payload 時間 為了定義 poll-done 之間不要超時用的 + self.mavPack_interval_timeout = 150 # ms，poll 期間 MAVLink/DONE 最大閒置間隔 + self.discovery_interval_seconds = 200.0 # 每次做 discovery 程序的間隔時間 self.device_offline_timeout = self.discovery_interval_seconds * 2 # 遠端沒有回應會被踢出 超時時限 self.operator_tick_interval_seconds = 0.03 # self.guard_milliseconds = 50 # POLL DONE 的保底時間間隔 @@ -391,12 +396,12 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): return None if frame_type == self.FRAME_TYPE_TX_STATUS: - length = (frame[1] << 8) | frame[2] - logger.debug( - f"TX Status raw={frame.hex()}, api_len={length}, " - f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, " - f"retry={frame[7]}, delivery={frame[8]}, discovery={frame[9]}" - ) + # length = (frame[1] << 8) | frame[2] + # logger.debug( + # f"TX Status raw={frame.hex()}, api_len={length}, " + # f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, " + # f"retry={frame[7]}, delivery={frame[8]}, discovery={frame[9]}" + # ) return None logger.warning(f"Unknown XBee frame type: 0x{frame_type:02X}") @@ -405,7 +410,8 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): # ---- DISC / POLL 封裝 ---- def pack_discovery(self) -> bytes: - return self._encapsulate(self.DISC_HEADER, frame_id=0x00) + # logger.debug(f"pack discovery") + return self._encapsulate(self.DISC_HEADER, dest_addr16 = self.DEST_ADDR16_BRAODCAST, dest_addr64 = self.DEST_ADDR64_BRAODCAST , frame_id=0x00) # 處理每個裝置回傳的 Hello 訊息 def handle_hello_report(self, payload: bytes, sender_address_64: bytes) -> None: @@ -451,8 +457,11 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): if remote_device is None: return + + system_id, sent_length, remain_length = struct.unpack('>BHH', payload[4:9]) + remote_device.remain_bytes = remain_length + # 這段是有問題的 因為會有整數封包切割問題 以及載具端的 buffer 存量不足 故回傳的資訊量會與要求的不一致 - # system_id, sent_length, remain_length = struct.unpack('>BHH', payload[4:9]) # if sent_length != remote_device.received_len: # logger.info( # f"POLL may be missing packets sent={sent_length} " @@ -462,7 +471,6 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): # TODO 傳送速率 # TODO 累積速率預測 remote_device.received_len = 0 - remote_device.remain_bytes = remain_length remote_device.last_done_time = time.time() if ( @@ -582,12 +590,9 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): def _should_run_discovery(self) -> bool: # 條件1. 目前沒有任何遠端ESP裝置被紀錄 或者 手動啟動 if (not self.esp32_address_mapping) or (self.pending_manual_discovery): - return True + return (time.time() - self.last_discovery_time) > 2 # 條件2. 每個固定週期 會做一次 - return ( - time.time() - self.last_discovery_time - >= self.discovery_interval_seconds - ) + return (time.time() - self.last_discovery_time) > self.discovery_interval_seconds # ---- 手動請求（thread-safe 對外 API）---- @@ -753,6 +758,23 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): self.is_discovery_phase = False self.pending_manual_discovery = False + async def _wait_poll_done_with_idle_timeout(self) -> bool: + idle_timeout_sec = self.mavPack_interval_timeout / 1000.0 + poll_tick = min(0.02, idle_timeout_sec) + + while not self.poll_done_event.is_set(): + if time.time() - self.last_recieve_mavlink >= idle_timeout_sec: + return False + # try: + await asyncio.wait_for( + self.poll_done_event.wait(), + timeout=poll_tick, + ) + + # except asyncio.TimeoutError: + # continue + return True + # poll 程序 async def _run_one_poll(self, target_address_64: bytes, grant_bytes: int) -> None: if self.serial_writer is None: